An End-Effector Wrist Module for the Kinematically Redundant Manipulation of Arm-Type Robots
Journal
Proceedings - IEEE International Conference on Robotics and Automation
Start Page
6075
End Page
6080
ISSN
10504729
ISBN (of the container)
9780818634529
9781728173955
0818634529
0818627204
9781479969234
0780365763
9780780389144
9781538660263
078034300X
9781612843865
Date Issued
2020
Author(s)
Abstract
Industrial arm-type robots have multiple degrees-of-freedom (DoFs) and high dexterity but the use of the roll-pitch-roll wrist configuration yields singularities inside the reachable workspace. Excessive joint velocities will occur when encountering these singularities. Arm-type robots currently don't have enough dexterity to move the end-effector path away from the wrist singularities. Robots with redundant DoFs can be used to provide additional dexterity to avoid the singularities and reduce the excessive joint velocity. An end-effector wrist module is proposed to provide two redundant DoFs when interfaced with an existing 6-DoF robot. The new 8-DoF robot has a compact roll-pitch-yaw wrist that has no singularities inside the reachable workspace. The highly redundant robot can also be used to avoid collisions in various directions. Path tracking simulation examples are provided to show the advantages of the proposed design when compared with existing redundant or nonredundant robots. We expect that this module can serve as a cost-effective solution in applications where singularity-free motion or collision-free motion is required.
Event(s)
2020 IEEE International Conference on Robotics and Automation, ICRA 2020
Subjects
Inverse Kinematics
Kinematically Redundant Manipulation
Roll-pitch-yaw
Wrist Module
Wrist Singularity
Agricultural Robots
Cost Effectiveness
Degrees Of Freedom (mechanics)
Machine Design
Redundant Manipulators
Robotics
Collision-free
Cost-effective Solutions
Joint Velocity
Multiple Degrees Of Freedom
Pitch-roll Wrists
Reachable Workspace
Redundant Robot
Singularity-free
End Effectors
SDGs
Publisher
Institute of Electrical and Electronics Engineers Inc.
Description
2020 IEEE International Conference on Robotics and Automation, ICRA 2020. Paris. conference code:163172
Type
conference paper