Kinematics-based studies on a 7-DOF redundant manipulator

Min Chih Liu, Ho Hsuan Tsai, Te-Sheng Hsiao

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

3 Scopus citations

Abstract

Traditional industrial robots require at least 6-degree-of-freedom (DOF) to completely specify the position and orientation of the end-effector in the 3D space. However, extra DOF enables the robot to accomplish more challenging tasks such as obstacle avoidance, torque optimization, fault tolerance, etc. at the price of increasingly complicated kinematics. This paper is aimed at investigating some kinematics-related problems associated with a 7-DOF robot, including forward kinematics, inverse kinematics, Jacobian matrix, and collision detection, to set up the base for future researches.

Original languageEnglish
Title of host publicationCACS 2014 - 2014 International Automatic Control Conference, Conference Digest
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages228-231
Number of pages4
ISBN (Electronic)9781479945849
DOIs
StatePublished - 28 Apr 2014
Event2014 International Automatic Control Conference, CACS 2014 - Kaohsiung, Taiwan
Duration: 26 Nov 201428 Nov 2014

Publication series

NameCACS 2014 - 2014 International Automatic Control Conference, Conference Digest

Conference

Conference2014 International Automatic Control Conference, CACS 2014
Country/TerritoryTaiwan
CityKaohsiung
Period26/11/1428/11/14

Keywords

  • 7-DOF robots
  • collision detection
  • inverse kinematics
  • redundant manipulators
  • singularity

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