Title :
The kinematics of robotic wrists
Author :
Roberts, Rodney G. ; Repperger, Daniel W.
Author_Institution :
Armstrong Lab., Wright Patterson AFB, OH, USA
Abstract :
This paper examines the kinematics of robotic wrists by using the singular value decomposition (SVD) of the wrist Jacobian. Since the manipulator Jacobian of a wrist is relatively simple, it is possible to calculate the SVD in closed form via a simple matrix factorization. Once this has been accomplished, a variety of issues can be examined including kinematic singularities and the evaluation of the manipulability and dexterity measures. These results are then applied to robots with spherical wrists and a motion simulator
Keywords :
kinematics; manipulators; matrix algebra; SVD; dexterity measures; kinematic singularities; manipulability; matrix factorization; motion simulator; robotic wrists; singular value decomposition; wrist Jacobian; End effectors; Jacobian matrices; Kinematics; Laboratories; Manipulators; Motion control; Orbital robotics; Robots; Singular value decomposition; Wrist;
Conference_Titel :
Robotics and Automation, 1994. Proceedings., 1994 IEEE International Conference on
Conference_Location :
San Diego, CA
Print_ISBN :
0-8186-5330-2
DOI :
10.1109/ROBOT.1994.351057
