Kinematic analysis of redundant robotic manipulators: application to Kuka LWR 4+ and ABB Yumi
This paper presents a kinematic analysis of two redundant serial manipulators: Kuka LWR 4+ and ABB Yumi. This analysis includes the derivation of the forward kinematics for both manipulators as well as the solution of the inverse kinematic problem. For the Kuka LWR 4+ this solution is analytical whe...
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| Format: | Article |
| Language: | Spanish |
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Universitat Politècnica de València
2018-03-01
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| Series: | Revista Iberoamericana de Automática e Informática Industrial RIAI |
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| Online Access: | https://polipapers.upv.es/index.php/RIAI/article/view/8822 |
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| _version_ | 1846146262365110272 |
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| author | Isiah Zaplana Josep Arnau Claret Luis Basanez |
| author_facet | Isiah Zaplana Josep Arnau Claret Luis Basanez |
| author_sort | Isiah Zaplana |
| collection | DOAJ |
| description | This paper presents a kinematic analysis of two redundant serial manipulators: Kuka LWR 4+ and ABB Yumi. This analysis includes the derivation of the forward kinematics for both manipulators as well as the solution of the inverse kinematic problem. For the Kuka LWR 4+ this solution is analytical whereas for the ABB Yumi an analytical and numerical approach is proposed. Besides, the singularities of the Kuka LWR 4+ are obtained symbolically and the singular directions associated are calculated. This study intends to increase the kinematic knowledge of two actual redundant manipulators as well as to provide valuable information that can be used in the definition of different algorithms or control laws. |
| format | Article |
| id | doaj-art-e08908377e3844e48e3b6eb001db8a0d |
| institution | Kabale University |
| issn | 1697-7912 1697-7920 |
| language | Spanish |
| publishDate | 2018-03-01 |
| publisher | Universitat Politècnica de València |
| record_format | Article |
| series | Revista Iberoamericana de Automática e Informática Industrial RIAI |
| spelling | doaj-art-e08908377e3844e48e3b6eb001db8a0d2024-12-02T03:59:05ZspaUniversitat Politècnica de ValènciaRevista Iberoamericana de Automática e Informática Industrial RIAI1697-79121697-79202018-03-0115219220210.4995/riai.2017.88226119Kinematic analysis of redundant robotic manipulators: application to Kuka LWR 4+ and ABB YumiIsiah Zaplana0Josep Arnau Claret1Luis Basanez2Universidad Politécnica de CataluñaUniversidad Politécnica de CataluñaUniversidad Politécnica de CataluñaThis paper presents a kinematic analysis of two redundant serial manipulators: Kuka LWR 4+ and ABB Yumi. This analysis includes the derivation of the forward kinematics for both manipulators as well as the solution of the inverse kinematic problem. For the Kuka LWR 4+ this solution is analytical whereas for the ABB Yumi an analytical and numerical approach is proposed. Besides, the singularities of the Kuka LWR 4+ are obtained symbolically and the singular directions associated are calculated. This study intends to increase the kinematic knowledge of two actual redundant manipulators as well as to provide valuable information that can be used in the definition of different algorithms or control laws.https://polipapers.upv.es/index.php/RIAI/article/view/8822Cinemáticacinemática inversamanipuladores redundantesmatrices de transformaciónsingularidades |
| spellingShingle | Isiah Zaplana Josep Arnau Claret Luis Basanez Kinematic analysis of redundant robotic manipulators: application to Kuka LWR 4+ and ABB Yumi Revista Iberoamericana de Automática e Informática Industrial RIAI Cinemática cinemática inversa manipuladores redundantes matrices de transformación singularidades |
| title | Kinematic analysis of redundant robotic manipulators: application to Kuka LWR 4+ and ABB Yumi |
| title_full | Kinematic analysis of redundant robotic manipulators: application to Kuka LWR 4+ and ABB Yumi |
| title_fullStr | Kinematic analysis of redundant robotic manipulators: application to Kuka LWR 4+ and ABB Yumi |
| title_full_unstemmed | Kinematic analysis of redundant robotic manipulators: application to Kuka LWR 4+ and ABB Yumi |
| title_short | Kinematic analysis of redundant robotic manipulators: application to Kuka LWR 4+ and ABB Yumi |
| title_sort | kinematic analysis of redundant robotic manipulators application to kuka lwr 4 and abb yumi |
| topic | Cinemática cinemática inversa manipuladores redundantes matrices de transformación singularidades |
| url | https://polipapers.upv.es/index.php/RIAI/article/view/8822 |
| work_keys_str_mv | AT isiahzaplana kinematicanalysisofredundantroboticmanipulatorsapplicationtokukalwr4andabbyumi AT joseparnauclaret kinematicanalysisofredundantroboticmanipulatorsapplicationtokukalwr4andabbyumi AT luisbasanez kinematicanalysisofredundantroboticmanipulatorsapplicationtokukalwr4andabbyumi |