Hostname: page-component-cd9895bd7-dzt6s Total loading time: 0 Render date: 2024-12-26T07:27:52.397Z Has data issue: false hasContentIssue false
  • English
  • Français

Extension of Usable Workspace of Rotational Axes in Robot Planning

Published online by Cambridge University Press:  01 May 1999

Zhen Huang  and
Y Lawrence Yao
Zhen Huang
Affiliation:
Department of Mechanical Engineering, Columbia University, New York, NY 10027 (USA)
Y Lawrence Yao
Affiliation:
Department of Mechanical Engineering, Columbia University, New York, NY 10027 (USA)
Get access Rights & Permissions [Opens in a new window]

Abstract

Singularity of a robot manipulator is one of the obstacles that influences its capabilities. This paper discusses constrained and allowable rotational motion resulting from lost translational freedom when the robot is singular. A convenient method and simple and clear expression to determine the allowable rotational axes and the subspace that they form, under Jacobian singularity, is analyzed and presented. Different configurations, reciprocal screws, and subspaces of allowable-rotational-axes are derived in a case study involving a classic robot. The result is useful in applications involving robot path planning in task space as it extends the usable workspace of rotational axes.

Keywords

Robot planningUsable workspaceRotational axesSingularityPath planning
Type
Research Article
Information
Robotica , Volume 17 , Issue 3 , May 1999 , pp. 293 - 301
Copyright
© 1999 Cambridge University Press

Access options

Get access to the full version of this content by using one of the access options below. (Log in options will check for institutional or personal access. Content may require purchase if you do not have access.)