Analysis of the singularities and the inverse kinematics of the GoFa collaborative robot from ABB

The CoRo laboratory recently acquired a GoFa collaborative robot from ABB. The geometry of this robot differs from that of conventional six-degree-of-freedom robotic arms: the axes of joints 5 and 6 do not intersect. This subtle difference complicates the robot's singularities. Moreover, the inverse kinematics of the GoFa do not seem to admit an analytical solution.

The first part of the project will involve analyzing the singularities of the GoFa robot by applying a well-established methodology, as described in this article. 

The second part of the project will focus on studying the robot's inverse kinematics in relation to the identified singularities.

The software tools used will include Maple, RoboDK, and RobotStudio. The real GoFa robot will also be used.