A Recursive Method for Finding Revolute-Jointed Manipulator Singularities
نویسندگان
چکیده
منابع مشابه
A Comparison of Different Control Laws in Trajectory Control for a Revolute-Jointed Manipulator
This study presents a comparison of different control laws for the trajectory control of a revolute-jointed manipulator. For this purpose, adaptive, robust and sliding mode control algorithms are applied to the model system so as to reduce tracking error at each joint. It is assumed that robot parameters are not known exactly and the system includes some uncertainties and disturbances. Computer...
متن کاملSingularity analysis of the HALF parallel manipulator with revolute actuators
This paper concerns the singuIariQ of the HALF parallel manipulato,: a novel three degrees of feedom (DoFs) mechanism, with revolute actuators. The parallel manipulato,: pmposed previousb, consists of a base plate, a movable platform, and three connecting legs. It has the advantages in terms of only single-DoF joints and high rotational capability The parallef manipulator has wide application i...
متن کاملSingularity Analysis of a Kinematically Simple Class of 7-jointed Revolute Manipulators
The singularities for a class of kinematically simple 7-jointed revolute manipulators are found. Within the class, unnecessary lengths and 4-jointed spherical groups of joints are avoided, and successive joints are perpendicular or parallel. Four different joint layouts are required to complete this class. The concept of screw reciprocity is used to find the singular (velocity-degenerate) confi...
متن کاملSingularities of a Manipulator with Offset Wrist
The singularities of manipulators with offset wrists are difficult to enumerate. This article presents a numerical study to illuminate singularity problems when using an offset wrist with an articulated regional arm. Ironically, the regional manipulator singularity problem is worsened when using a singularity-free offset wrist. No wrist singularities exist (they are forced by design to lie outs...
متن کاملStiffness Matrix Analysis of Six-revolute Serial Manipulator
This paper presents a simple procedure that can be used to determine the stiffness matrix of 6R serial manipulator in selected points of the work space with joint stiffness coefficients taking into account. Elastokinematical model for the robot manipulator FANUC S-420F was considered as spatial and serial kinematical chain composed of six rigid links, connected by ideal revolute joint (without ...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
ژورنال
عنوان ژورنال: Journal of Mechanical Design
سال: 1995
ISSN: 1050-0472,1528-9001
DOI: 10.1115/1.2826117