Analysis of Kinematic Singularities for a Serial Redundant Manipulator with 7 DOF

2018 ◽  
pp. 179-186
Author(s):  
Zijia Li ◽  
Mathias Brandstötter ◽  
Michael Hofbaur
Keyword(s):  
Redundant Manipulator ◽  
Kinematic Singularities

Pseudoinverse-Based Motion Control of a Redundant Manipulator on a Flexible Base with Vibration Suppression

2008 ◽  
Vol 20 (4) ◽  
pp. 621-627 ◽  
Author(s):  
Yusuke Fukazu ◽  
◽  
Naoyuki Hara ◽  
Toshimitu Hishinuma ◽  
Daisuke Sato ◽  
...  
Keyword(s):  
Motion Control ◽  
Vibration Suppression ◽  
Additional Constraint ◽  
Velocity Control ◽  
Redundant Manipulator ◽  
Vibration Dynamics ◽  
Flexible Base ◽  
Consistent Method ◽  
Kinematic Singularities ◽  
Velocity Level

We propose a method for motion control of a redundant manipulator on a flexible base. Manipulator selfmotion is determined from a velocity-level additional constraint obtained from base vibration dynamics. End-effector path tracking is ensured via pseudoinverse-based velocity control. In this way, algorithmic singularities associated with the additional constraint are avoided. The vibration suppression control component is derived via the Singularity-Consistent method, which aleviates destabilization during vibration suppression in the vicinity of kinematic singularities. Experimental data from a 3R planar manipulator on a flexible base confirmed the feasibility of the proposed method.

scholarly journals Kinematics and Singularity Analysis of a 7-DOF Redundant Manipulator

Sensors ◽  
2021 ◽  
Vol 21 (21) ◽  
pp. 7257
Author(s):  
Xiaohua Shi ◽  
Yu Guo ◽  
Xuechan Chen ◽  
Ziming Chen ◽  
Zhiwei Yang
Keyword(s):  
Matrix Method ◽  
Inverse Kinematics ◽  
Joint Space ◽  
Singularity Analysis ◽  
Robotic Arm ◽  
Redundant Manipulator ◽  
Singularity Avoidance ◽  
Primitive Matrix ◽  
Motion Characteristics ◽  
Kinematic Singularities

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.

The Augmented Task Space Approach for Redundant Manipulator Control

1988 ◽  
Vol 21 (16) ◽  
pp. 125-129
Author(s):  
L. Sciavicco ◽  
B. Siciliano
Keyword(s):  
Task Space ◽  
Redundant Manipulator ◽  
Manipulator Control ◽  
Space Approach
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