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An approach dealing with wrist singularity of Six-DOF industrial robots
Huang YC(黄玉钏); Qu DK(曲道奎); Xu F(徐方); Zhang WX(张文香)
作者部门其他
会议名称2nd International Conference on Mechatronics and Intelligent Materials 2012, MIM 2012
会议日期May 18-19, 2012
会议地点GuiLin, China
会议录名称Advanced Materials Research
出版者Trans Tech Publications
出版地Clausthal-Zellerfeld, Germany
2012
页码1936-1940
收录类别EI ; CPCI(ISTP)
EI收录号20121414923974
WOS记录号WOS:000312926100391
产权排序1
ISSN号1022-6680
ISBN号978-3-03785-384-9
关键词Intelligent Materials Inverse Kinematics Machine Design Robot Applications
摘要This paper presents an engineering method for analyzing the kinematics and inverse kinematics of a kind of Six-DOF industrial robots. Firstly, we build an engineering coordinate system for this kind robot, and then get expressions of closed-form solutions to both kinematics and inverse kinematics. From the process of deducing the expressions of closed-form solutions, we can analyze common singularities existing in workspace. Lastly, we design programs for both kinematics and inverse kinematics and simulate the movement of this kind robot. This method, compared with the structures of traditional solutions, is easier and understandability by leading into two conceptions- the position end and the tool end. What is more significant is that the robot can move safely when the wrist is under the singularity by using transitional stage. The transitional stage can make the tool of the robot move a line without join angel sudden change. The program solves the problem that all domestic industrial robots can not move when the wrist is under the singularity. This program is realized successfully on the welding robot of SIASUN Corporation. © (2012) Trans Tech Publications, Switzerland.
语种英语
引用统计
文献类型会议论文
条目标识符http://ir.sia.cn/handle/173321/10137
专题其他
作者单位1.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China
2.Graduate School of the Chinese Academy of Sciences, Beijing 10049, China
3.SIASUN Robot and Automation Co., Ltd., Shenyang 110168, China
推荐引用方式
GB/T 7714
Huang YC,Qu DK,Xu F,et al. An approach dealing with wrist singularity of Six-DOF industrial robots[C]. Clausthal-Zellerfeld, Germany:Trans Tech Publications,2012:1936-1940.
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