Kinematic analysis and singularity avoidance for a seven-joint manipulator derived from the PUMA geometry are discussed. Mechanical singularities are found, and the motion of the structure in such configurations is analyzed. An inverse kinematics algorithm which exploits redundancy in an augmented task-space framework is adopted. A suitable constraint task aimed at preventing the occurrence of singularities and possibly recovering the original PUMA design is introduced. Artificial singularities that originate from conflicting task situations are avoided using a task-priority strategy. The algorithm has been implemented in two case studies, and numerical results are reported.
Kinematic analysis and singularity avoidance for a seven-joint manipulator / S., Chiaverini; Siciliano, Bruno; O., Egeland. - STAMPA. - (1990), pp. 2300-2305. (Intervento presentato al convegno American Control Conference tenutosi a San Diego, CA nel May).
Kinematic analysis and singularity avoidance for a seven-joint manipulator
SICILIANO, BRUNO;
1990
Abstract
Kinematic analysis and singularity avoidance for a seven-joint manipulator derived from the PUMA geometry are discussed. Mechanical singularities are found, and the motion of the structure in such configurations is analyzed. An inverse kinematics algorithm which exploits redundancy in an augmented task-space framework is adopted. A suitable constraint task aimed at preventing the occurrence of singularities and possibly recovering the original PUMA design is introduced. Artificial singularities that originate from conflicting task situations are avoided using a task-priority strategy. The algorithm has been implemented in two case studies, and numerical results are reported.I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.