Analysis of Singular Configuration of Robotic Manipulators
| Autor: | Xiaolin Cheng, Chuanjiang Wang, Binghui Fan, Xinglei Zhang |
|---|---|
| Jazyk: | angličtina |
| Rok vydání: | 2021 |
| Předmět: |
Pieper criterion
Correctness TK7800-8360 Computer Networks and Communications Computer science Process (computing) Parallel manipulator Jacobian matrix Measure (mathematics) Ellipsoid Serial manipulator Computer Science::Robotics symbols.namesake Hardware and Architecture Control and Systems Engineering Control theory Signal Processing Jacobian matrix and determinant symbols manipulability measure Electronics Electrical and Electronic Engineering singular configurations Condition number condition number |
| Zdroj: | Electronics Volume 10 Issue 18 Electronics, Vol 10, Iss 2189, p 2189 (2021) |
| ISSN: | 2079-9292 |
| DOI: | 10.3390/electronics10182189 |
| Popis: | Robotic manipulators inevitably encounter singular configurations in the process of movement, which seriously affects their performance. Therefore, the identification of singular configurations is extremely important. However, serial manipulators that do not meet the Pieper criterion cannot obtain singular configurations through analytical methods. A joint angle parameterization method, used to obtain singular configurations, is here creatively proposed. First, an analytical method based on the Jacobian determinant and the proposed method were utilized to obtain their respective singular configurations of the Stanford manipulator. The singular configurations obtained through the two methods were consistent, which suggests that the proposed method can obtain singular configurations correctly. Then, the proposed method was applied to a seven-degree-of-freedom (7-DOF) serial manipulator and a planar 5R parallel manipulator. Finally, the correctness of the singular configurations of the 7-DOF serial manipulator was verified through the shape of the end-effector velocity ellipsoid, the value of the determinant, the value of the condition number, and the value of the manipulability measure. The correctness of singular configurations of the planar 5R parallel manipulator was verified through the value of the determinant, the value of the condition number, and the value of the manipulability measure. |
| Databáze: | OpenAIRE |
| Externí odkaz: |
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