I want to check for singular configurations of a 7-dof robotic arm (RRRRRRR). I have found the geometric Jacobian and it is a 6x7 matrix. If my theoretical background is solid when the Jacobian loses a rank (in this case <6) the robot is at a singularity.
So one should check when the determinant of the Jacobian equals zero.In this case since it is not a square matrix i multiplied the Jacobian by its transpose and calculated that determinant in matlab.
My problem is that the elements of the matrix,well those that are not equal to zero or 1, are terrible to look at.I mean, you can see a lot of cosine and sine terms which make the computation really complicated.
Is there a way to make things easier?
I appreciate all the help, Victor