事情起因是，某技术人员号称这款机械臂无奇异点，博主当场一个【黑人问号脸】。

既然是串联臂，大概很难做到无奇异点~

为了反驳，博主建模简单分析了下，偏置参数随便写了个，具体验证程序见文末。

clear,clc,close all

L1 = 34;
L2 = 34;
L3 = 250;
L4 = 245;
L5 = 50;
L6 = 94;
L7 = 100;
R = sqrt(L4*L4+L5*L5);

alpha = [0 pi/2 0 0 -pi/2 pi/2];
a     = [0 L1 L3 R L6 0] / 1000;
d     = [0 0 0 0 0 L7] / 1000;


for i=1:6
   Link(i) = RevoluteMDH('d', d(i),'a', a(i),'alpha', alpha(i));
end
robot = SerialLink(Link,'name','arx5');

%robot.plot([0,0,+atan(L5/L4),-atan(L5/L4),pi/2,0])
% robot.teach()

% 肘部奇异

q1 = [0,pi/3,0,pi/3,pi/2,0]
disp("肘部奇异:")
J = robot.jacob0(q1);
[~,S,~]=svd(J)

% 肩部奇异
disp("肩部奇异:")
q2 = [0 25 108.05 30 90 0] * pi / 180;
J = robot.jacob0(q2);
[~,S,~]=svd(J)