Kinematic Redundancy Analysis for (2n+1) R Circular Manipulators

doi:10.1109/TRO.2022.3196961

	Kinematic Redundancy Analysis for (2n+1) R Circular Manipulators
	Li, Zijia 1; Brandstoetter, Mathias 2; Hofbaur, Michael 2,3
刊名	IEEE TRANSACTIONS ON ROBOTICS
	2022-08-18
页码	13
关键词	Collision avoidance industrial robots kinematic singularities recursively solution redundant robots
ISSN号	1552-3098
DOI	10.1109/TRO.2022.3196961
英文摘要	The kinematic analysis of redundant serial manipulators with 2n + 1 revolute joints (integer n >= 3), which we call circular manipulators, is presented in this article. The structure of the kinematic chain of circular manipulators has special properties that can be seen in the Denavit-Hartenberg parameters: all orthogonal distances are zero, all even-numbered offsets are zeros, but odd-numbered offsets are not. Typical manipulators that fulfill these properties are redundant 7R serial chains (n = 3) that mimic the human arm, e.g., the lightweight robot arm KUKA LBR iiwa. This 7R circular manipulator has self-motion as rotation around an axis that goes through two fixed points for a fixed pose. First, radical reparametrization is presented based on the swivel angle of the closed-form inverse kinematics solution for the 7R circular manipulator. Second, for a six-dimensional task, the inverse kinematics solution for redundant serial manipulators with 2n + 1 revolute joints (n >= 3) is reparametrized by the swivel angle and other 2n - 6 rotation parameters. From a geometric point of view, for a circular manipulator with 2n + 1 revolute joints, one can have n(n - 1) /2 choices of such circular rotations. Third, we conjecture numerical kinematic singularities for circular manipulators in a recursive formula, confirming n = 5, 6, 7.
资助项目	Chinese Academy of Sciences[E1550301] ; Chinese Academy of Sciences[E0550319]
WOS研究方向	Robotics
语种	英语
出版者	IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
WOS记录号	WOS:000842741900001
内容类型	期刊论文
源URL	[http://ir.amss.ac.cn/handle/2S8OKBNM/61111]
专题	中国科学院数学与系统科学研究院
通讯作者	Li, Zijia
作者单位	1.Chinese Acad Sci, Acad Math & Syst Sci, KLMM, Beijing 100190, Peoples R China 2.Joanneum Res, Inst Robot & Mechatron, A-9020 Klagenfurt Am Worthersee, Austria 3.Alpen Adria Univ Klagenfurt, Dept Smart Sensor Technol, A-9020 Klagenfurt Am Worthersee, Austria
推荐引用方式 GB/T 7714	Li, Zijia,Brandstoetter, Mathias,Hofbaur, Michael. Kinematic Redundancy Analysis for (2n+1) R Circular Manipulators[J]. IEEE TRANSACTIONS ON ROBOTICS,2022:13.
APA	Li, Zijia,Brandstoetter, Mathias,&Hofbaur, Michael.(2022).Kinematic Redundancy Analysis for (2n+1) R Circular Manipulators.IEEE TRANSACTIONS ON ROBOTICS,13.
MLA	Li, Zijia,et al."Kinematic Redundancy Analysis for (2n+1) R Circular Manipulators".IEEE TRANSACTIONS ON ROBOTICS (2022):13.