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Informations générales |
| Auteur |
Hong, Man Bok |
| Publié |
InTech Open Access Publisher, 2012
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| Abstract |
This paper addresses a novel geometric analysis
method of the singularity and kinestatic characteristics of
robots. For non‐redundant robots, there exist two uniquely
determined Jacobians ‐ the screw‐based Jacobian and the
reciprocal Jacobian. Here, it is shown that if some of the
reciprocal products between the column screws of the two
Jacobians are close to zero, the robot is in the vicinity of a
singular configuration and the corresponding columns of the
Jacobian are involved in the singularity. From this
observation, an invariant measure of closeness to a
singularity is presented using the reciprocal products.
Furthermore, by considering the reciprocal products
between the actuated joint screws and column screws of the
Jacobian, this measure is extended so that the concept of the
kinestatic characterization index is presented for parallel
robots. Since it is defined as the ratio of reciprocal products
from the uniqueness of the two Jacobians, it represents a
unique invariant characteristic of robots. From the singularity
analyses of the planar 4‐bar linkage and the 3‐DOF parallel
manipulator with PRS‐serial chains, the validity of the
proposed index is examined and the concept of a
kinestatically balanced configuration is introduced as well. |
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International Journal of Advanced Robotic Systems
Auteur: Ottaviano, Erika; Ceccarelli, Marco; Husty, Manfred; Yu, Sung-Hoon; Kim, Yong-Tae; Park, Chang-Woo; Hyun, Chang-Ho; Chen, Xiulong; Feng, Weiming; Sun, Xianyang; Gao, Qing; Grigorescu, Sorin M.; Pozna, Claudiu; Liu, Wanli; Zhankui, Wang; Guo, Meng; Fu, Guoyu; Zhang, Jin; Chen, Wenyuan; Peng, Fengchao; Yang, Pei; Chen, Chunlin; Ding, Rui; Yu, Junzhi; Yang, Qinghai; Tan, Min; Polden, Joseph; Pan, [...]
Publié: 2004
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