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On the Design of 5R Serial Manipulators with Isotropic Positioning

被引：0
|
作者：
Baron, L. [1 ]
机构：
[1] Ecole Polytech, Montreal, PQ H3C 3A7, Canada
来源：
ADVANCES IN ROBOT KINEMATICS: MOTION IN MAN AND MACHINE | 2010年
关键词：
Isotropy; kinematic design; serial manipulator;
D O I：
10.1007/978-90-481-9262-5_25
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
This paper study the serial composition of two isotropic serial chains aiming at isotropic positioning tasks, and resulting in two new 5R serial manipulators. The operating point of manipulator A can undergo the full surface of a sphere of near isotropic positioning, while maintaining a low constant overall conditioning. The Gram-Schmidt procedure can orthogonalized the rows of the positioning jacobian matrix arising from a selected point over that sphere. The resulting manipulator B can reach isotropic positioning, while undergoing only the trivial circle.
引用
收藏
页码：233 / 240
页数：8
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