Admissible motions of special manipulators

Author

Tsai, Kao Y. ; Hsu, I-Ping ; Kohli, Dilip

Author_Institution

Dept. of Mech. Eng., Nat. Taiwan Inst. of Technol., Taipei, Taiwan

Volume

10

Issue

3

fYear

1994

fDate

6/1/1994 12:00:00 AM

Firstpage

386

Lastpage

391

Abstract

Special manipulators are those manipulators whose inverse kinematics can be solved through equations of degree two. In this paper, it is shown that each C sheet of a special manipulator contains only one inverse kinematic solution continuation. The joint space of such manipulators can be completely described using concepts of conjugate and neighboring C sheets. It is also shown that all inverse kinematic solution branches of the special manipulators can be distinctly separated and identified inside the work space and related to the C sheets in the joint space. In the paper, a theory is developed for determining admissibility of inverse kinematics dependent paths of special manipulators with or without joint motion limitations. Examples of trajectory planning of special manipulators are provided for illustration

Keywords

geometry; kinematics; path planning; polynomials; C sheet; inverse kinematics; joint space; manipulators; trajectory planning; work space; Equations; Geometry; Jacobian matrices; Kinematics; Manifolds; Manipulators; Mechanical engineering; Polynomials; Space technology; Trajectory;

fLanguage

English

Journal_Title

Robotics and Automation, IEEE Transactions on

Publisher

ieee

ISSN

1042-296X

Type

jour

DOI

10.1109/70.294212

Filename

294212