Dexterity of underactuated six degrees of freedom three dimensional redundant manipulators

Yahya, Samer ; Almurib, Haider Abbas ; Moghavvemi, Mahmoud

ANZIAM Journal, Tome 55 (2014), / Harvested from Australian Mathematical Society

Résumé

We quantify the dexterity of underactuated robot manipulators equipped with active and passive joints. We discuss the harnessing of redundant degrees of freedom in a robotic manipulator in order to keep it in service. We assume that the passive joints are locked at an arbitrary known position. There are three important dexterity measures: workspace volume, reachability, and manipulability. We discuss the workspace volume of a six degrees of freedom, three dimensional, redundant manipulator with an arbitrarily located passive joint. References X. Xin, J.-H. She, T. Yamasaki and Y. Liu, Swing-up control based on virtual composite links for n-link underactuated robot with passive first joint, Automatica, 45(9):1986–1994, 2009. doi:10.1016/j.automatica.2009.04.023 M. Bergerman and Y. Xu, Dexterity of underactuated manipulators, ICAR, 719–724, 1997. doi:10.1109/ICAR.1997.620261 S, Yahya, M. Moghavvemi and H. A. F. Mohamed, Singularity Avoidance of a Six Degrees of Freedom Three Dimensional Redundant Planar Manipulator, Comput. Math. Appl., 64(5):856–868, 2012. doi:10.1016/j.camwa.2011.12.073 S. Yahya, M. Moghavvemi and H. A. F. Almurib, Joint Torque Reduction of a Three Dimensional Redundant Planar Manipulator, Sensors, 12(6):6869–6892, 2012. doi:10.3390/s120606869 A. K. Pradeep, P. J. Yoder, R. Mukundan, R. J. Schilling, Crippled motion in robots, IEEE T. Aero. Elec. Sys., 24(1):2–13, 1988. doi:10.1109/7.1030 R. G. Roberts, Quantifying the local fault tolerance of a kinematically redundant manipulator, Amer. Contr. Conf., 3:1889–1893, 1995. doi:10.1109/ACC.1995.531215 R. G. Roberts and A. A. Maciejewski. A local measure of fault tolerance for kinematically redundant manipulators, IEEE Int. Conf. Robot., 12(4):543–552, 1996. doi:10.1109/70.508437 S. Yahya, M. Moghavvemi and H. A. F. Mohamed. Geometrical approach of planar hyper-redundant manipulators: Inverse kinematics, path planning and workspace, Simul. Model. Pract. Th., 19(1):406–422, 2011. doi:10.1016/j.simpat.2010.08.001 H. A. F. Mohamed, S. Yahya, M. Moghavvemi and S. S. Yang. A New Inverse Kinematics Method for Three Dimensional Redundant Manipulators, ICCAS-SICE, 1557–1562, 2009. http://ieeexplore.ieee.org/xpl/articleDetails.jsp?arnumber=5335259&refinements%3D4274859776%26sortType%3Dasc_p_Sequence%26filter%3DAND%28p_IS_Number%3A5332438%29

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Publié le : 2014-01-01
DOI : https://doi.org/10.21914/anziamj.v55i0.7709