An approach dealing with wrist singularity of Six-DOF industrial robots
文献类型：会议论文
| 作者 | Huang YC(黄玉钏); Qu DK(曲道奎); Xu F(徐方); Zhang WX(张文香) |
| 出版日期 | 2012 |
| 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 |
| 关键词 | Intelligent materials Inverse kinematics Machine design Robot applications |
| 页码 | 1936-1940 |
| 中文摘要 | 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. |
| 收录类别 | EI ; CPCI（ISTP） |
| 产权排序 | 1 |
| 会议录 | Advanced Materials Research
 |
| 会议录出版者 | Trans Tech Publications |
| 会议录出版地 | Clausthal-Zellerfeld, Germany |
| 语种 | 英语 |
| ISSN号 | 1022-6680 |
| ISBN号 | 978-3-03785-384-9 |
| WOS记录号 | WOS:000312926100391 |
| 源URL | [http://ir.sia.cn/handle/173321/10137]  |
| 专题 | 沈阳自动化研究所_其他 |
| 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]. 见:2nd International Conference on Mechatronics and Intelligent Materials 2012, MIM 2012. GuiLin, China. May 18-19, 2012. |
入库方式： OAI收割
来源：沈阳自动化研究所
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