Abstract
A new methodology for identifying multi-DOF (degree-of-freedom) loss velocity-degenerate (singular) configurations of kinematically-redundant manipulators is presented. The methodology is based on extending an existing single-DOF-loss velocity degeneracy identification methodology [J. Robot. Syst. 17 (11) (2000) 633; Mech. Mach. Theory 36 (3) (2001) 397]. The new methodology uses the properties of reciprocal screws to determine the multi-DOF-loss velocity-degenerate configurations of kinematically-redundant manipulators. A by-product of the multi-DOF-loss methodology is that reciprocal screws for each velocity-degenerate configuration are determined. These reciprocal screws characterize the motion loss for each degenerate configuration. The 2-DOF-loss velocity degeneracies for a 7-jointed spherical-revolute-spherical manipulator are derived to demonstrate the effectiveness of the reciprocity-based methodology for determining multi-DOF-loss velocity degeneracies.
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Disclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.