Title :
Regional structure kinematic modules for singularity avoidance
Author :
Long, Gregory L. ; Reed, Scott W. ; Donoghue, Joseph P.
Author_Institution :
Dept. of Mech. & Aerosp. Eng., California Univ., Irvine, CA, USA
Abstract :
Many industrial manipulators have three-revolute-joint (3R) regional structures for positioning a wrist center. Motion control of these 3R regional structures can be problematical, as boundary and internal singularities reduce the available spatial freedoms. This study addresses spatial motion singularity avoidance and performance enhancement via 4R regional structure kinematic modules
Keywords :
industrial robots; kinematics; 3R regional structures; 4R regional structure kinematic modules; boundary singularities; industrial manipulators; internal singularities; motion control; performance enhancement; singularity avoidance; wrist centre positioning; Actuators; Aerospace engineering; Aerospace industry; Algorithm design and analysis; Buildings; Manipulators; Motion control; Rehabilitation robotics; Robot kinematics; Telerobotics;
Conference_Titel :
Robotics and Automation, 1993. Proceedings., 1993 IEEE International Conference on
Conference_Location :
Atlanta, GA
Print_ISBN :
0-8186-3450-2
DOI :
10.1109/ROBOT.1993.292104
