TY - GEN
T1 - The effect of redundant degrees of freedom on manipulator's kinematic characteristics
AU - Xu, Qinhuan
AU - Zhan, Qiang
AU - Cao, Xiujie
N1 - Publisher Copyright:
© 2018 Association for Computing Machinery.
PY - 2018/12/26
Y1 - 2018/12/26
N2 - In order to verify the necessity and effectiveness of redundant degrees of freedom (DOF) of anthropomorphic manipulators, the effects of redundant DOFs on manipulator's kinematic characteristics are quantitatively studied. Firstly, the manipulator configurations with 6, 7 and 8 DOFs as well as optimal position and posture structure are introduced. Kinematic models of the three manipulators with the same maximum working radius, the same joint motion range are established. Workspace, Jacobian condition number and manipulability of the three manipulators are obtained respectively through numerical simulations, and their kinematic characteristics are analyzed from three aspects. Then, the distribution of relative manipulation capabilities in the workspaces and the optimal workspace of the three manipulators are obtained based on the concept of global relative manipulability. Through comparing and analysis, the effects of redundant DOFs on workspace, movement flexibility and manipulability of manipulators are obtained, which can provide theoretical basis for the configuration design of anthropomorphic manipulators.
AB - In order to verify the necessity and effectiveness of redundant degrees of freedom (DOF) of anthropomorphic manipulators, the effects of redundant DOFs on manipulator's kinematic characteristics are quantitatively studied. Firstly, the manipulator configurations with 6, 7 and 8 DOFs as well as optimal position and posture structure are introduced. Kinematic models of the three manipulators with the same maximum working radius, the same joint motion range are established. Workspace, Jacobian condition number and manipulability of the three manipulators are obtained respectively through numerical simulations, and their kinematic characteristics are analyzed from three aspects. Then, the distribution of relative manipulation capabilities in the workspaces and the optimal workspace of the three manipulators are obtained based on the concept of global relative manipulability. Through comparing and analysis, the effects of redundant DOFs on workspace, movement flexibility and manipulability of manipulators are obtained, which can provide theoretical basis for the configuration design of anthropomorphic manipulators.
KW - Anthropomorphic manipulator
KW - Global relative manipulability
KW - Kinematic characteristics
KW - Optimum workspace
KW - Redundant degrees of freedom
UR - https://www.scopus.com/pages/publications/85064275164
U2 - 10.1145/3303714.3303718
DO - 10.1145/3303714.3303718
M3 - 会议稿件
AN - SCOPUS:85064275164
T3 - ACM International Conference Proceeding Series
SP - 127
EP - 131
BT - Proceedings of the International Conference on Robotics, Control and Automation Engineering, RCAE 2018 and 2018 International Conference on Advanced Mechanical and Electrical Engineering, AMEE 2018
PB - Association for Computing Machinery
T2 - 2018 International Conference on Robotics, Control and Automation Engineering, RCAE 2018
Y2 - 26 December 2018 through 28 December 2018
ER -