An End-Effector Wrist Module for the Kinematically Redundant Manipulation of Arm-Type Robots

Yu Hsiang Chang, Yen Chun Liu, Chao Chieh Lan

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

Industrial arm-type robots have multiple degrees-of-freedom (DoFs) and high dexterity but the use of the roll-pitch-roll wrist configuration yields singularities inside the reachable workspace. Excessive joint velocities will occur when encountering these singularities. Arm-type robots currently don't have enough dexterity to move the end-effector path away from the wrist singularities. Robots with redundant DoFs can be used to provide additional dexterity to avoid the singularities and reduce the excessive joint velocity. An end-effector wrist module is proposed to provide two redundant DoFs when interfaced with an existing 6-DoF robot. The new 8-DoF robot has a compact roll-pitch-yaw wrist that has no singularities inside the reachable workspace. The highly redundant robot can also be used to avoid collisions in various directions. Path tracking simulation examples are provided to show the advantages of the proposed design when compared with existing redundant or nonredundant robots. We expect that this module can serve as a cost-effective solution in applications where singularity-free motion or collision-free motion is required.

Original languageEnglish
Title of host publication2020 IEEE International Conference on Robotics and Automation, ICRA 2020
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages6075-6080
Number of pages6
ISBN (Electronic)9781728173955
DOIs
Publication statusPublished - 2020 May
Event2020 IEEE International Conference on Robotics and Automation, ICRA 2020 - Paris, France
Duration: 2020 May 312020 Aug 31

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
ISSN (Print)1050-4729

Conference

Conference2020 IEEE International Conference on Robotics and Automation, ICRA 2020
CountryFrance
CityParis
Period20-05-3120-08-31

All Science Journal Classification (ASJC) codes

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

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