Title :
Motion analysis of a kinematically redundant seven-DOF manipulator under the singularity-consistent method
Author :
Nenchev, Dragomir N. ; Tsumaki, Yuichi
Author_Institution :
Dept. of Mech. Syst. Eng., Musashi Inst. of Technol., Tokyo, Japan
Abstract :
The SC method is applied to a 7-DOF manipulator arm with a spherical wrist and zero joint offsets, such as the Mitsubishi Heavy Industries PA-10 arm. We obtain two vector fields for driving the positioning subchain and one vector field for the wrist, in analytical form. The former two vector fields are used to realize decoupled motion control of the end-effector and the arm plane, respectively. No additional singularities are introduced, and motion through kinematic singularities is stable and cyclic.
Keywords :
Jacobian matrices; end effectors; manipulator kinematics; motion control; position control; redundant manipulators; 7 DOF manipulators; Jacobian matrix; Mitsubishi heavy industries; arm plane; end effector; kinematic singularities; motion analysis; motion control; positioning subchain; redundant manipulator; singularity consistent method; spherical wrist; zero joint offsets; Equations; Jacobian matrices; Kinematics; Manipulators; Mechanical systems; Motion analysis; Null space; Orbital robotics; Space technology; Wrist;
Conference_Titel :
Robotics and Automation, 2003. Proceedings. ICRA '03. IEEE International Conference on
Print_ISBN :
0-7803-7736-2
DOI :
10.1109/ROBOT.2003.1242010
