Teaching-playback robot manipulator system in consideration of singularities

Author

Yoon Seong Yong ; Yanjiang Huang ; Chiba, Ryosuke ; Arai, Tamio ; Ueyama, Tsuyoshi ; Ota, Jun

Author_Institution

Center for Eng. (RACE), Univ. of Tokyo, Kashiwa, Japan

fYear

2013

fDate

9-12 July 2013

Firstpage

453

Lastpage

458

Abstract

This paper studies the kinematic singularities problem faced by a 6-DOF manipulator controlled manually by using teaching pendant in real time. Two algorithms of singularities avoidance are discussed, which include non-redundancy and redundancy. Experimental case studies are developed to investigate manipulator performance when end-effector trajectories come near to shoulder and wrist singularities that are controlled manually by user. Proposed algorithms are verified to be effective and practical through experiment.

Keywords

end effectors; industrial manipulators; intelligent robots; manipulator kinematics; real-time systems; teaching; 6-DOF manipulator; end-effector trajectories; kinematic singularities problem; manipulator performance; shoulder singularities; singularities avoidance; teaching pendant; teaching-playback robot manipulator system; wrist singularities; Education; Joints; Kinematics; Manipulators; Redundancy; Shoulder;

fLanguage

English

Publisher

ieee

Conference_Titel

Advanced Intelligent Mechatronics (AIM), 2013 IEEE/ASME International Conference on

Conference_Location

Wollongong, NSW

ISSN

2159-6247

Print_ISBN

978-1-4673-5319-9

Type

conf

DOI

10.1109/AIM.2013.6584133

Filename

6584133