Abstract
The position sub-manifold and orientation sub-man- ifold are defined for the redundant robots in which the end manipulator's position and orientation are decoupled.The end manipulator's workspace is divided into three subspaces accor- ding to the difference of position sub-manifold and orientation sub-manifold.The position sub-manifold and the orientation sub-manifold in all subspaces are expressed as parameter equations by vector algebra,so the self-motion manifold can be obtained as the matched pair that is formed by position sub-manifold and orientation sub-manifold.A simulation is carried out in the first subspace to obtain the self-motion manifolds for a given point,and the result is verified by forward kinematics.The method to solve self-motion manifold with position sub-manifold and orientation sub-manifold is also valid for other kinds of redundant robots in which the end manipulator's position and orientation are decoupled.
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