Journal article
On the workspace boundary determination of serial manipulators with non-unilateral constraints
Robotics and computer-integrated manufacturing, Vol.24(1), pp.60-76
2008
DOI: 10.1016/j.rcim.2006.06.005
Abstract
Broadly applicable analytical algorithms for workspace of serial manipulators with non-unilateral constraints are developed and illustrated. The Jacobian row-rank deficiency method is employed to determine the singularities of these manipulators. There are four types of singularity sets: Type I: position Jacobian singularities; Type II: instantaneous singularities that are due to a generalized joint that is reaching its apex; Type III: domain boundary singularities, which are associated with the initial and final values of the time interval; Type IV: coupled singularities, which are associated with a relative singular Jacobian, where the null space is reduced in one sub-matrix due to either of two occurrences: a Type II or a Type III singularity. All of the singular surfaces are hypersurfaces that extend internally and externally the workspace envelope. Intersecting singular surfaces identifies singular curves that partition singular surfaces into subsurfaces, and a perturbation method is used to identify regions (curve segments/surface patches) of the hypersurfaces that are on the boundary. The formulation is illustrated by implementing it to a spatial 3-degree of freedom (DOF) and a spatial 4-DOF manipulator.
Details
- Title: Subtitle
- On the workspace boundary determination of serial manipulators with non-unilateral constraints
- Creators
- Jingzhou Yang - Virtual Soldier Research (VSR) Program, Center for Computer-Aided Design, The University of Iowa, 111 Engineering Research Facility, Iowa City, IA 52242-1000, USAKarim Abdel-Malek - Virtual Soldier Research (VSR) Program, Center for Computer-Aided Design, The University of Iowa, 111 Engineering Research Facility, Iowa City, IA 52242-1000, USAYunqing Zhang - National Engineering Research Center for CAD, Huazhong University of Science & Technology, Wuhan, Hubei, 430074, PR China
- Resource Type
- Journal article
- Publication Details
- Robotics and computer-integrated manufacturing, Vol.24(1), pp.60-76
- Publisher
- Elsevier Ltd
- DOI
- 10.1016/j.rcim.2006.06.005
- ISSN
- 0736-5845
- eISSN
- 1879-2537
- Language
- English
- Date published
- 2008
- Academic Unit
- Roy J. Carver Department of Biomedical Engineering; Mechanical Engineering
- Record Identifier
- 9984064237602771
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