Why do some
workloads are
empty? The hollow portions
are those which are outside the
scope of the end effector of the
robot. They are called singular
areas.Mathematically it states
that the robot is in a singular
configuration when the range of
the Jacobian matrix [mxn] m is
less. In the case where n = m:
singularity exists when the
determinant of the Jacobian matrix J
is zero {det (q) = 0}.
Practically is when the robot is at the
limits of their workspace because it
loses movement possibilities are
aligned or when two or more axes of
joints of the same type (rotational or
translational)
PUMA
PUMAIt means "Programmable
Universal Manipulator for Assembly",
this robot has the physical structure
of type manipulator, a manipulator
has links that are made of steel or
aluminum. Other materials may also
be used, depending on
requirements. The joints are usually
of the "rotary" type or "translation". It
has three parts, arm, wrist and hand.
TYPE OF PROPER
CONTROL WELDING
For seam welding, some vendors
provide complete welding systems
with the robot, ie, welding equipment
with materials handling units, their
turntables, etc., together as an
integral unit. This integrated robotic
system is called "welding robot"
although independent handling unit
could be adapted for a variety of
tasks.