Kinematics and Singularity Analysis of a 7-DOF Redundant Manipulator
A new method of kinematic analysis and singularity analysis is proposed for a 7-DOF redundant manipulator with three consecutive parallel axes. First, the redundancy angle is described according to the self-motion characteristics of the manipulator, the position and orientation of the end-effector a...
| Main Authors: | , , , , |
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| Format: | Article |
| Language: | English |
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MDPI AG
2021-10-01
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| Series: | Sensors |
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| Online Access: | https://www.mdpi.com/1424-8220/21/21/7257 |
| _version_ | 1797511767586242560 |
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| author | Xiaohua Shi Yu Guo Xuechan Chen Ziming Chen Zhiwei Yang |
| author_facet | Xiaohua Shi Yu Guo Xuechan Chen Ziming Chen Zhiwei Yang |
| author_sort | Xiaohua Shi |
| collection | DOAJ |
| description | A new method of kinematic analysis and singularity analysis is proposed for a 7-DOF redundant manipulator with three consecutive parallel axes. First, the redundancy angle is described according to the self-motion characteristics of the manipulator, the position and orientation of the end-effector are separated, and the inverse kinematics of this manipulator is analyzed by geometric methods with the redundancy angle as a constraint. Then, the Jacobian matrix is established to derive the conditions for the kinematic singularities of the robotic arm by using the primitive matrix method and the block matrix method. Then, the kinematic singularities conditions in the joint space are mapped to the Cartesian space, and the singular configuration is described using the end poses and redundancy angles of the robotic arm, and a singularity avoidance method based on the redundancy angles and end pose is proposed. Finally, the correctness and feasibility of the inverse kinematics algorithm and the singularity avoidance method are verified by simulation examples. |
| first_indexed | 2024-03-10T05:51:46Z |
| format | Article |
| id | doaj.art-38960650bb9344d6ad9c6e0ad0ce61a9 |
| institution | Directory Open Access Journal |
| issn | 1424-8220 |
| language | English |
| last_indexed | 2024-03-10T05:51:46Z |
| publishDate | 2021-10-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Sensors |
| spelling | doaj.art-38960650bb9344d6ad9c6e0ad0ce61a92023-11-22T21:38:54ZengMDPI AGSensors1424-82202021-10-012121725710.3390/s21217257Kinematics and Singularity Analysis of a 7-DOF Redundant ManipulatorXiaohua Shi0Yu Guo1Xuechan Chen2Ziming Chen3Zhiwei Yang4School of Mechanical Engineering, Yanshan University, Qinhuangdao 066004, ChinaSchool of Mechanical Engineering, Yanshan University, Qinhuangdao 066004, ChinaSchool of Mechanical Engineering, Yanshan University, Qinhuangdao 066004, ChinaSchool of Mechanical Engineering, Yanshan University, Qinhuangdao 066004, ChinaSchool of Mechanical Engineering, Yanshan University, Qinhuangdao 066004, ChinaA new method of kinematic analysis and singularity analysis is proposed for a 7-DOF redundant manipulator with three consecutive parallel axes. First, the redundancy angle is described according to the self-motion characteristics of the manipulator, the position and orientation of the end-effector are separated, and the inverse kinematics of this manipulator is analyzed by geometric methods with the redundancy angle as a constraint. Then, the Jacobian matrix is established to derive the conditions for the kinematic singularities of the robotic arm by using the primitive matrix method and the block matrix method. Then, the kinematic singularities conditions in the joint space are mapped to the Cartesian space, and the singular configuration is described using the end poses and redundancy angles of the robotic arm, and a singularity avoidance method based on the redundancy angles and end pose is proposed. Finally, the correctness and feasibility of the inverse kinematics algorithm and the singularity avoidance method are verified by simulation examples.https://www.mdpi.com/1424-8220/21/21/72577-DOF manipulatorinverse kinematicsJacobian matrixsingularity analysissingularity avoidance |
| spellingShingle | Xiaohua Shi Yu Guo Xuechan Chen Ziming Chen Zhiwei Yang Kinematics and Singularity Analysis of a 7-DOF Redundant Manipulator Sensors 7-DOF manipulator inverse kinematics Jacobian matrix singularity analysis singularity avoidance |
| title | Kinematics and Singularity Analysis of a 7-DOF Redundant Manipulator |
| title_full | Kinematics and Singularity Analysis of a 7-DOF Redundant Manipulator |
| title_fullStr | Kinematics and Singularity Analysis of a 7-DOF Redundant Manipulator |
| title_full_unstemmed | Kinematics and Singularity Analysis of a 7-DOF Redundant Manipulator |
| title_short | Kinematics and Singularity Analysis of a 7-DOF Redundant Manipulator |
| title_sort | kinematics and singularity analysis of a 7 dof redundant manipulator |
| topic | 7-DOF manipulator inverse kinematics Jacobian matrix singularity analysis singularity avoidance |
| url | https://www.mdpi.com/1424-8220/21/21/7257 |
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