Measuring position singularities of the KUKA KR5 robot

Researches focusing on the singularities of industrial robots have been in progress for years now at the laboratory of the University of Debrecen. The subject-matter of this research is the analysis of problems relating to production technologies at companies manufacturing cars in Hungary, while it makes an attempt to offer a solution in some specific cases. Some of the associated researches looks into the behaviour of industrial robots within manufacturing cells, and for this purpose examine the cause of the interruption of the contact between the robot and control system even if it lasts for a few tenths of seconds in certain cases. A typical problem is that the robot slightly leaves its pre-specified path despite the existing path control or the orientation of the tool changes in TCP. It usually induces problems during production. The root of the phenomenon can be tracked back to the behaviour of robots at a singularity point or in its surroundings. This paper presents a potential method for the possible examination of path loss in the case of KUKA KR5 robots by applying a simple photomechanical procedure.