Chang, YuhsiangYuhsiangChangLiu, Yen ChunYen ChunLiuCHAO-CHIEH LAN2025-09-242025-09-242020https://www.scopus.com/inward/record.uri?eid=2-s2.0-85092706411&doi=10.1109%2FICRA40945.2020.9197258&partnerID=40&md5=396dbb14adc4cef397e75f0691f6c189https://scholars.lib.ntu.edu.tw/handle/123456789/7324382020 IEEE International Conference on Robotics and Automation, ICRA 2020. Paris. conference code:163172Industrial 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.Inverse KinematicsKinematically Redundant ManipulationRoll-pitch-yawWrist ModuleWrist SingularityAgricultural RobotsCost EffectivenessDegrees Of Freedom (mechanics)Machine DesignRedundant ManipulatorsRoboticsCollision-freeCost-effective SolutionsJoint VelocityMultiple Degrees Of FreedomPitch-roll WristsReachable WorkspaceRedundant RobotSingularity-freeEnd Effectors[SDGs]SDG16conference paper10.1109/ICRA40945.2020.91972582-s2.0-85092706411