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This paper discusses deriving geometric jacobians and identifying andanalyzing the kinematic singularities for two 6 DOF arm robots. First we showthe direct kinematics and D-H parameters derived for these two arms. TheGeometric jacobian is computed for Barrett WAM and Smokie OUR. By analyzing thejacobian matrices we find the configurations at which J is rank deficient andderive the kinematic singularities through jacobian's determinent. Schematicare provided to show the singular configurations of both robots. Finally asurvey is done on redundant kinematic allocation schemesfor 7 DoF Barrett WAM.

Geometric Jacobians Derivation and Kinematic Singularity Analysis for Smokie Robot Manipulator & the Barrett WAM