Author:
Shi Xiaohua,Guo Yu,Chen Xuechan,Chen Ziming,Yang Zhiwei
Abstract
A new method of kinematic analysis and singularity analysis is proposed for a 7-DOF redundant manipulator with three consecutive parallel axes. First, the redundancy angle is described according to the self-motion characteristics of the manipulator, the position and orientation of the end-effector are separated, and the inverse kinematics of this manipulator is analyzed by geometric methods with the redundancy angle as a constraint. Then, the Jacobian matrix is established to derive the conditions for the kinematic singularities of the robotic arm by using the primitive matrix method and the block matrix method. Then, the kinematic singularities conditions in the joint space are mapped to the Cartesian space, and the singular configuration is described using the end poses and redundancy angles of the robotic arm, and a singularity avoidance method based on the redundancy angles and end pose is proposed. Finally, the correctness and feasibility of the inverse kinematics algorithm and the singularity avoidance method are verified by simulation examples.
Funder
National Natural Science Foundation of China
Natural Science Foundation of Hebei Province
Hebei Province Science and Technology Support Program
Subject
Electrical and Electronic Engineering,Biochemistry,Instrumentation,Atomic and Molecular Physics, and Optics,Analytical Chemistry
Cited by
3 articles.
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1. A computationally effective singularity avoidance method for redundant manipulators with non-spherical wrists;Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science;2023-05-12
2. Design of a mobile manipulator control system;2022 4th International Conference on Intelligent Control, Measurement and Signal Processing (ICMSP);2022-07-08
3. An Obstacle Avoidance and Trajectory Tracking Algorithm for Redundant Manipulator End;IEEE Access;2022