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

Yu Hsiang Chang, Yen Chun Liu, Chao Chieh Lan

研究成果: Conference contribution

摘要

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.

原文English
主出版物標題2020 IEEE International Conference on Robotics and Automation, ICRA 2020
發行者Institute of Electrical and Electronics Engineers Inc.
頁面6075-6080
頁數6
ISBN(電子)9781728173955
DOIs
出版狀態Published - 2020 五月
事件2020 IEEE International Conference on Robotics and Automation, ICRA 2020 - Paris, France
持續時間: 2020 五月 312020 八月 31

出版系列

名字Proceedings - IEEE International Conference on Robotics and Automation
ISSN(列印)1050-4729

Conference

Conference2020 IEEE International Conference on Robotics and Automation, ICRA 2020
國家France
城市Paris
期間20-05-3120-08-31

All Science Journal Classification (ASJC) codes

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

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