Kinematically Redundant Hybrid Robots With Simple Singularity Conditions and Analytical Inverse Kinematic Solutions

Kefei Wen; Clément Gosselin

RA-L 201918 citations

Kinematically Redundant Hybrid Robots With Simple Singularity Conditions and Analytical Inverse Kinematic Solutions

Abstract

The rotational workspace of a parallel manipulator is mainly limited by type II singularities. In this letter, we present an approach to synthesize three-legged planar <inline-formula xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink"><tex-math notation="LaTeX">$3+n$</tex-math></inline-formula> and spatial <inline-formula xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink"><tex-math notation="LaTeX">$6+n$</tex-math></inline-formula> degree-of-freedom kinematically redundant hybrid robots with very simple—or vanishing—type II singularity conditions. Here, <inline-formula xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink"><tex-math notation="LaTeX">$n$</tex-math></inline-formula> denotes the number of redundancies. Moreover, the inverse kinematic problem of the proposed architectures can be solved analytically. Because of these advantages, such redundant robots are well suited for applications in physical human–robot interaction, where large rotational workspaces are typically needed.

BibTeX

@inproceedings{ral2019_kinematicallyred,
  title = {Kinematically Redundant Hybrid Robots With Simple Singularity Conditions and Analytical Inverse Kinematic Solutions},
  author = {Kefei Wen and Clément Gosselin},
  booktitle = {RA-L 2019},
  year = {2019}
}