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Extension of Usable Workspace of Rotational Axes in Robot Planning

Published online by Cambridge University Press:  01 May 1999

Zhen Huang  and
Y Lawrence Yao
Zhen Huang
Affiliation:
Department of Mechanical Engineering, Columbia University, New York, NY 10027 (USA)
Y Lawrence Yao
Affiliation:
Department of Mechanical Engineering, Columbia University, New York, NY 10027 (USA)
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Abstract

Singularity of a robot manipulator is one of the obstacles that influences its capabilities. This paper discusses constrained and allowable rotational motion resulting from lost translational freedom when the robot is singular. A convenient method and simple and clear expression to determine the allowable rotational axes and the subspace that they form, under Jacobian singularity, is analyzed and presented. Different configurations, reciprocal screws, and subspaces of allowable-rotational-axes are derived in a case study involving a classic robot. The result is useful in applications involving robot path planning in task space as it extends the usable workspace of rotational axes.

Keywords

Robot planningUsable workspaceRotational axesSingularityPath planning
Type
Research Article
Information
Robotica , Volume 17 , Issue 3 , May 1999 , pp. 293 - 301
Copyright
© 1999 Cambridge University Press

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