Singularity Management Of 2DOF Planar Manipulator Using Coupled Kinematics

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

*此作品的通信作者

研究成果: Conference contribution同行評審

8 引文 斯高帕斯(Scopus)

摘要

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.

原文English
主出版物標題Proceedings of the 7th International Conference on Control, Automation, Robotics and Vision, ICARCV 2002
頁面402-407
頁數6
DOIs
出版狀態Published - 12月 2002
事件Proceedings of the 7th International Conference on Control, Automation, Robotics and Vision, ICARC 2002 - Singapore, Singapore
持續時間: 2 12月 20025 12月 2002

出版系列

名字Proceedings 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
國家/地區Singapore
城市Singapore
期間2/12/025/12/02

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