Kinematics Singularity Solution and Simulation Analysis of Redundant Manipulator based on Screw Theory
The solution and simulation analysis of the singularity configurations within its workspace of the seven axis cooperative KUKA manipulator is presented. Firstly， the manipulator kinematics model is constructed and the DH parameter is obtained. Secondly， the Jacobian matrix is computed based on screw...
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| Format: | Article |
| Language: | zho |
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Editorial Office of Journal of Mechanical Transmission
2020-09-01
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| Series: | Jixie chuandong |
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| Online Access: | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2020.09.019 |
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| author | Xinhong Feng |
| author_facet | Xinhong Feng |
| author_sort | Xinhong Feng |
| collection | DOAJ |
| description | The solution and simulation analysis of the singularity configurations within its workspace of the seven axis cooperative KUKA manipulator is presented. Firstly， the manipulator kinematics model is constructed and the DH parameter is obtained. Secondly， the Jacobian matrix is computed based on screw theory and the screw reciprocity method is used to find the singularity configurations. Finally， the dexterity of end reference point of robot is analyzed based on manipulability index and the minimum singular value index by means of the Robotics Toolbox. The analysis results reveals that there are four singular conditions of the seven axis cooperative KUKA robot within its workspace， and the simulation results verifies the correctness of the analysis， and it lays a foundation for subsequent manipulator singularity avoidance arithmetic research. |
| format | Article |
| id | doaj-art-ea46b8371b404138a6b878adb5c09dd0 |
| institution | Kabale University |
| issn | 1004-2539 |
| language | zho |
| publishDate | 2020-09-01 |
| publisher | Editorial Office of Journal of Mechanical Transmission |
| record_format | Article |
| series | Jixie chuandong |
| spelling | doaj-art-ea46b8371b404138a6b878adb5c09dd02025-01-10T14:46:55ZzhoEditorial Office of Journal of Mechanical TransmissionJixie chuandong1004-25392020-09-014412212729795571Kinematics Singularity Solution and Simulation Analysis of Redundant Manipulator based on Screw TheoryXinhong FengThe solution and simulation analysis of the singularity configurations within its workspace of the seven axis cooperative KUKA manipulator is presented. Firstly， the manipulator kinematics model is constructed and the DH parameter is obtained. Secondly， the Jacobian matrix is computed based on screw theory and the screw reciprocity method is used to find the singularity configurations. Finally， the dexterity of end reference point of robot is analyzed based on manipulability index and the minimum singular value index by means of the Robotics Toolbox. The analysis results reveals that there are four singular conditions of the seven axis cooperative KUKA robot within its workspace， and the simulation results verifies the correctness of the analysis， and it lays a foundation for subsequent manipulator singularity avoidance arithmetic research.http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2020.09.019Modular manipulatorJacobian matrixScrew theorySingularity |
| spellingShingle | Xinhong Feng Kinematics Singularity Solution and Simulation Analysis of Redundant Manipulator based on Screw Theory Jixie chuandong Modular manipulator Jacobian matrix Screw theory Singularity |
| title | Kinematics Singularity Solution and Simulation Analysis of Redundant Manipulator based on Screw Theory |
| title_full | Kinematics Singularity Solution and Simulation Analysis of Redundant Manipulator based on Screw Theory |
| title_fullStr | Kinematics Singularity Solution and Simulation Analysis of Redundant Manipulator based on Screw Theory |
| title_full_unstemmed | Kinematics Singularity Solution and Simulation Analysis of Redundant Manipulator based on Screw Theory |
| title_short | Kinematics Singularity Solution and Simulation Analysis of Redundant Manipulator based on Screw Theory |
| title_sort | kinematics singularity solution and simulation analysis of redundant manipulator based on screw theory |
| topic | Modular manipulator Jacobian matrix Screw theory Singularity |
| url | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2020.09.019 |
| work_keys_str_mv | AT xinhongfeng kinematicssingularitysolutionandsimulationanalysisofredundantmanipulatorbasedonscrewtheory |