Community/Industry Impact and Value •  This project results will be used for future engineers to learn complex Robot

Kinematic theory. •  Companies that are developing Robotic Simulation and off-line programming

software packages can use those results to improve simulation of Advanced Manufacturing Systems.

Community/Industry Engagement •  Djuric’s Robotic Lab at Engineering Technology

Learning Experiences •  Matlab programming •  Forward Kinematics calculation •  Jacobian Matrix and singularity condition calculation

Team Composition •  Dalton Alex da Silva, EET •  Lucas Cunha e Silva, EET •  Ana Djuric (Faculty Advisor)

Further Research and Development •  Simplify Symbolical Jacobian Matrix determinant •  Verification of singularity conditions for a specific position •  Analyze which angles can make the robot stay in singular condition

Jacobian matrix and singularity for 6DOF FanucLRMate200ic robot

The Technology and Innovation •  Singularity analysis of multi degree of freedom complex systems.

•  Finding Singularity areas for the Fanuc Robot, represents the key element in

Advanced Manufacturing Systems.

•  The knowledge of the singularity helps to:

•  Improve the robot trajectory,

•  Production planning,

•  Design and build of new robots.

•  Solving the Fanuc Jacobian matrix using Vector product method.

•  Comparison between Maple17 and Matlab tools for solving the Fanuc Jacobian

matrix.