Kinematics and Singularity Analysis of a 7-DOF Redundant Manipulator

A new method of kinematic analysis and singularity analysis is proposed for a 7-DOF redundant manipulator with three consecutive parallel axes. First, the redundancy angle is described according to the self-motion characteristics of the manipulator, the position and orientation of the end-effector a...

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Autores principales:	Xiaohua Shi, Yu Guo, Xuechan Chen, Ziming Chen, Zhiwei Yang
Formato:	article
Lenguaje:	EN
Publicado:	MDPI AG 2021
Materias:	7-DOF manipulator inverse kinematics Jacobian matrix singularity analysis singularity avoidance Chemical technology TP1-1185
Acceso en línea:	https://doaj.org/article/38960650bb9344d6ad9c6e0ad0ce61a9
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id	oai:doaj.org-article:38960650bb9344d6ad9c6e0ad0ce61a9
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spelling	oai:doaj.org-article:38960650bb9344d6ad9c6e0ad0ce61a92021-11-11T19:13:17ZKinematics and Singularity Analysis of a 7-DOF Redundant Manipulator10.3390/s212172571424-8220https://doaj.org/article/38960650bb9344d6ad9c6e0ad0ce61a92021-10-01T00:00:00Zhttps://www.mdpi.com/1424-8220/21/21/7257https://doaj.org/toc/1424-8220A new method of kinematic analysis and singularity analysis is proposed for a 7-DOF redundant manipulator with three consecutive parallel axes. First, the redundancy angle is described according to the self-motion characteristics of the manipulator, the position and orientation of the end-effector are separated, and the inverse kinematics of this manipulator is analyzed by geometric methods with the redundancy angle as a constraint. Then, the Jacobian matrix is established to derive the conditions for the kinematic singularities of the robotic arm by using the primitive matrix method and the block matrix method. Then, the kinematic singularities conditions in the joint space are mapped to the Cartesian space, and the singular configuration is described using the end poses and redundancy angles of the robotic arm, and a singularity avoidance method based on the redundancy angles and end pose is proposed. Finally, the correctness and feasibility of the inverse kinematics algorithm and the singularity avoidance method are verified by simulation examples.Xiaohua ShiYu GuoXuechan ChenZiming ChenZhiwei YangMDPI AGarticle7-DOF manipulatorinverse kinematicsJacobian matrixsingularity analysissingularity avoidanceChemical technologyTP1-1185ENSensors, Vol 21, Iss 7257, p 7257 (2021)
institution	DOAJ
collection	DOAJ
language	EN
topic	7-DOF manipulator inverse kinematics Jacobian matrix singularity analysis singularity avoidance Chemical technology TP1-1185
spellingShingle	7-DOF manipulator inverse kinematics Jacobian matrix singularity analysis singularity avoidance Chemical technology TP1-1185 Xiaohua Shi Yu Guo Xuechan Chen Ziming Chen Zhiwei Yang Kinematics and Singularity Analysis of a 7-DOF Redundant Manipulator
description	A new method of kinematic analysis and singularity analysis is proposed for a 7-DOF redundant manipulator with three consecutive parallel axes. First, the redundancy angle is described according to the self-motion characteristics of the manipulator, the position and orientation of the end-effector are separated, and the inverse kinematics of this manipulator is analyzed by geometric methods with the redundancy angle as a constraint. Then, the Jacobian matrix is established to derive the conditions for the kinematic singularities of the robotic arm by using the primitive matrix method and the block matrix method. Then, the kinematic singularities conditions in the joint space are mapped to the Cartesian space, and the singular configuration is described using the end poses and redundancy angles of the robotic arm, and a singularity avoidance method based on the redundancy angles and end pose is proposed. Finally, the correctness and feasibility of the inverse kinematics algorithm and the singularity avoidance method are verified by simulation examples.
format	article
author	Xiaohua Shi Yu Guo Xuechan Chen Ziming Chen Zhiwei Yang
author_facet	Xiaohua Shi Yu Guo Xuechan Chen Ziming Chen Zhiwei Yang
author_sort	Xiaohua Shi
title	Kinematics and Singularity Analysis of a 7-DOF Redundant Manipulator
title_short	Kinematics and Singularity Analysis of a 7-DOF Redundant Manipulator
title_full	Kinematics and Singularity Analysis of a 7-DOF Redundant Manipulator
title_fullStr	Kinematics and Singularity Analysis of a 7-DOF Redundant Manipulator
title_full_unstemmed	Kinematics and Singularity Analysis of a 7-DOF Redundant Manipulator
title_sort	kinematics and singularity analysis of a 7-dof redundant manipulator
publisher	MDPI AG
publishDate	2021
url	https://doaj.org/article/38960650bb9344d6ad9c6e0ad0ce61a9
work_keys_str_mv	AT xiaohuashi kinematicsandsingularityanalysisofa7dofredundantmanipulator AT yuguo kinematicsandsingularityanalysisofa7dofredundantmanipulator AT xuechanchen kinematicsandsingularityanalysisofa7dofredundantmanipulator AT zimingchen kinematicsandsingularityanalysisofa7dofredundantmanipulator AT zhiweiyang kinematicsandsingularityanalysisofa7dofredundantmanipulator
_version_	1718431577620348928

Kinematics and Singularity Analysis of a 7-DOF Redundant Manipulator

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