Singularities of the Typical Collaborative Robot Arm
Why this work is in the frame
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Bibliographic record
Abstract
In this paper, the singularities of the typical 6R collaborative robot (such as the cobots made by Universal Robots) are analytically and geometrically described. Since the axes of the last three joints in such a cobot are not concurrent, the singularities are slightly different from those of the PUMA-style manipulator. It is shown that the determinant of the Jacobian matrix of the typical cobot splits into four factors, three of which can vanish. As in the typical PUMA-style manipulator, the three vanishing factors correspond to shoulder, elbow and wrist singularities. However, in a wrist singularity, the redundant motion associated with no end-effector movement is more complex.
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Full frame distilled prediction
Teacher imitationNot calibrated prevalence, not ground truth. Human validation pending. Learned from the 10,348 direct Codex labels and 10,348 direct Gemma labels. Candidate is the union of thresholded teacher heads; consensus is their intersection. These outputs are machine_predicted_unvalidated and are not human labels or direct frontier model labels.
Codex and Gemma teacher scores by category
| Category | Codex | Gemma |
|---|---|---|
| Metaresearch | 0.000 | 0.000 |
| Meta-epidemiology (narrow) | 0.000 | 0.000 |
| Meta-epidemiology (broad) | 0.000 | 0.000 |
| Bibliometrics | 0.000 | 0.000 |
| Science and technology studies | 0.000 | 0.000 |
| Scholarly communication | 0.000 | 0.000 |
| Open science | 0.000 | 0.000 |
| Research integrity | 0.000 | 0.000 |
| Insufficient payload (model declined to judge) | 0.000 | 0.000 |
Machine scores (provisional)
The two teacher heads of the student model, read on this work. A score orders the frame for review; it never asserts a category, and the validation status ships verbatim with every row.
Baseline scores from an immature model (maturity gate not passed, 7 training rounds). Scores rank; they never assert a category.
score_only:v0-immature-baseline · verbatim from the scoring run: score_only means the number may rank works, and no category label ships from it