Abstract
AbstractThis paper presents a method for exact inverse velocity analysis of low‐DOF (degrees of freedom n<6) serial manipulators. For a low‐DOF serial manipulator, the number of independently controllable variables in the Cartesian space is equal to the number of joint variables in the joint space, and the remaining 6−n variables are linearly dependent on these independent variables. This paper employs the theory of reciprocal screws to determine a mapping between the independent velocity components in the Cartesian space and the joint rates in the joint space. It is shown that singular conditions of a low‐DOF manipulator depend on choice of independent variables. A 5‐DOF and a 4‐DOF manipulator are analyzed, and a numerical example in which the end effector of a 4‐DOF manipulator is commanded to follow a straight line is used to demonstrate the methodology. © 2003 Wiley Periodicals, Inc.
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