Workspace analysis of the ParaDex robot-a novel, closed-chain, kinematically-redundant manipulator

Author

Wang, Yuesong ; Newman, Wyatt S. ; Stoughton, Robert S.

Author_Institution

EECS Dept., Case Western Reserve Univ., Cleveland, OH, USA

Volume

3

fYear

2000

fDate

2000

Firstpage

2392

Abstract

Workspace analysis of a novel manipulator design is presented. The manipulator is a closed-chain design offering high payload, high stiffness and low inertia, but at the expense of limited workspace. A 7 degree-of-freedom is incorporated to help expand the reachable workspace. It is shown that the resulting workspace is complex, but manageable. Methods for fast constraint detection are presented, and techniques for optimizing use of the kinematic redundancy are explained. The result is sufficiently efficient to enable online planning and collision avoidance

Keywords

motion control; optimisation; path planning; real-time systems; redundant manipulators; ParaDex robot; closed-chain manipulator; collision avoidance; kinematically-redundant manipulator; online planning; optimization; workspace analysis; Algorithm design and analysis; Hydraulic actuators; Joining processes; Kinematics; Manipulators; Manufacturing; Micromotors; Prototypes; Robotic assembly; Robots;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 2000. Proceedings. ICRA '00. IEEE International Conference on

Conference_Location

San Francisco, CA

ISSN

1050-4729

Print_ISBN

0-7803-5886-4

Type

conf

DOI

10.1109/ROBOT.2000.846385

Filename

846385