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Feasibility studies of kinematics problems in the case of a class of redundant manipulators

Published online by Cambridge University Press:  09 March 2009

Shinobu Sasaki
Shinobu Sasaki
Affiliation:
Reactor Engineering, Japan Atomic Energy Research Institute, Tokai-muraNaka-gunIbaraki-ken319-11 (Japan)
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Summary

Lately, there have been numerous applications of computer algebra to special functions used in the various field of science and engineering. In this paper, we consider an efficient algorithm which generates velocity Jacobians for any class of general serial link manipulators in a compact form throughout the effective use of frame transformations. Compared with conventional techniques, a marked improvement of that capability is found in computer algebra applications to one class of a seven-joint manipulator. Together with finding of explicit solutions for joint rates, closed form arm solutions for the desired position of the hand are presented by relating the rotational motion of the elbow to a geometry problem.

Keywords

KinematicsRedundant manipulatorComputer algebraSeven-joint robotVelocity Jacobian
Type
Articles
Information
Robotica , Volume 13 , Issue 3 , May 1995 , pp. 233 - 241
Copyright
Copyright © Cambridge University Press 1995

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