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题名: An approach dealing with wrist singularity of Six-DOF industrial robots
作者: 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: Advanced Materials Research
会议录出版者: Trans Tech Publications
会议录出版地: Clausthal-Zellerfeld, Germany
出版日期: 2012
页码: 1936-1940
收录类别: CPCI(ISTP) ; EI
ISSN号: 1022-6680
ISBN号: 978-3037853849
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.
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内容类型: 会议论文
URI标识: http://ir.sia.cn/handle/173321/10137
Appears in Collections:其他_会议论文

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Recommended Citation:
黄玉钏; 曲道奎; 徐方; 张文香.An approach dealing with wrist singularity of Six-DOF industrial robots.见:Trans Tech Publications.Advanced Materials Research,Clausthal-Zellerfeld, Germany,2012,1936-1940
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