Singularity Management Of 2DOF Planar Manipulator Using Coupled Kinematics

Theingi*, Chuan Li, I. Ming Chen, Jorge Angeles

*Corresponding author for this work

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

8 Scopus citations

Abstract

This paper describes a new 2DOF planar manipulator (PM) using coupled kinematics to manage the singularities. It is designed in order to overcome the singularity configuration of planar manipulators. Manipulators are composed of five rigid links, five revolute joints and two actuators each actuating two of input links coordinated fashion, what we term coupled kinematics. Coupled kinematics is an actuating arrangement. It may be defined as a pair of axial rotations, which are distributed by an actuator at varieties of parameters, which depend transmission ratios of mechanism. Using the geometrical approach, the position of end-effector is obtained. Matching the velocity of end-effector from two branches, the input and output velocities relation can be derived. Considering the coupled kinematics effects, Jacobian matrix is determined. We show that, by mean of proper tuning of the parameters of coupled kinematics, the singularity manifold can be substantially simplified. Finally, note that kinematic coupling can be implemented using mechanical or electronic hardware.

Original languageEnglish
Title of host publicationProceedings of the 7th International Conference on Control, Automation, Robotics and Vision, ICARCV 2002
Pages402-407
Number of pages6
DOIs
StatePublished - Dec 2002
EventProceedings of the 7th International Conference on Control, Automation, Robotics and Vision, ICARC 2002 - Singapore, Singapore
Duration: 2 Dec 20025 Dec 2002

Publication series

NameProceedings of the 7th International Conference on Control, Automation, Robotics and Vision, ICARCV 2002

Conference

ConferenceProceedings of the 7th International Conference on Control, Automation, Robotics and Vision, ICARC 2002
Country/TerritorySingapore
CitySingapore
Period2/12/025/12/02

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