Ilian Bonev

Singularity Analysis of ABB's GoFa 5 Robot Arm

In the past decade, manipulator arms with non- traditional architectures — once found mainly in space and painting applications — have become popular as collaborative robots. Examples include ABB’s YuMi and GoFa, Kinova’s Link 6, and Fanuc’s CRX. These cobots lack closed-form inverse kinematics solu…