An Approach Dealing with Wrist Singularity of Six-DOF Industrial Robots

Abstract:

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.

• Periodical: Advanced Materials Research (Volumes 490-495)
• Pages: 1936-1940
• DOI: https://doi.org/10.4028/www.scientific.net/AMR.490-495.1936
• Online since: March 2012
• Authors: Yu Chuan Huang, Dao Kui Qu, Fang Xu, Wen Xiang Zhang
• Keywords: Kinematics of Robots, Singularity, Structure of Solution, Transitional Stage, Workspace

References

[1] Duff J. Analysis of mechanisms and robot manipulators [M]. Lomdon: Edword Aronold, (1980).

[2] Manseue R, Doty K L. A complete kinematics analysis of 4 -revolute robot manipulator. Mech. Mach. Theory, 1992, 27(3): 575-585.

[3] Griffis M, Duffy J. A forward displacement analysis of a class of Stewart platforms. Journal of Robotic Systems, 1989, 10 (3): 703-720.

DOI: 10.1002/rob.4620060604

[4] J. Denavit and R.S. Hartenberg, A Kinematic Notation for Lower-Pair Mechanisms Based on Matrices, Journal of Applied Mechanics, pp.215-221, June (1955).

DOI: 10.1115/1.4011045

[5] KELMR L, KHOSLA P. Automatic generation of kinematics for a reconfigurable modular manipulator system[C] /Proceeding of IEEE Conference on Robotics and Automation. Philadelphia: [s. n. ], 1998: 663-668.

DOI: 10.1109/robot.1988.12135

[6] CHEN I-ming, YANG Gui-lin. Inverse Kinematics for Modular Reconfigurable Robots[C]/Proceedings of the 1998 IEEE International conference on Robotics & Automation. Leuven Belgium: IEEE, 1998: 1672-1652.

DOI: 10.1109/robot.1998.677390

[7] CHAPELLE F, BIDAUP P, PHILIPPE B. Closed form solutions for inverse kinematics approximation of general 6R manipulators [J]. Mechanism and Machine B. Siciliano and L. Villani. Robot Force Control. Kluwer Academic Publishers, Dordrecht, NL, 1999 Theory, 2004, 39(3): 323-338.

DOI: 10.1016/j.mechmachtheory.2003.09.003

[8] TEJOMURTULA S, KAK S. Inverse Kinematics in Robotics Using Neural Networks [J]. Information Sciences, 1999, 116(2-4): 147-164.

DOI: 10.1016/s0020-0255(98)10098-1

[9] CHEN I-Ming, GAO yang. Closed-Form Inverse Kinematics Solve for Reconfigurable Robots [C] / Proceedings of the 2001 IEEE International Conference on Robotics & Automation. Seoul, Korea: [s. n. ], 2001: 2395-2400.

DOI: 10.1109/robot.2001.932980

[10] Pieper D L. The Kinematics of Manipulators under Computer Control [D] . Stanford University, (1969).

[11] D. Pieper The Kinematics of Manipulators Under Computer Control, Unpublished Ph.D. Thesis, Stanford University, (1968).