2017/07/16 by Reza Yazdanpanah Abdolmalaki, Abdolmalaki, Reza Yazdanpanah · 1 citation
Computer Science · #FOS: Computer and information sciences #Robotics (cs.RO) #cs.RO
paper · pdf · doi:10.48550/arxiv.1707.04821
Submitted to: 5th International Conference on Robotics and Mechatronics (ICROM), Tehran, Iran, 2017. arXiv admin note: text overlap with arXiv:1707.04820
arxiv created 2017/07/18 · arxiv updated 2017/07/20
This paper discusses deriving geometric jacobians and identifying and analyzing the kinematic singularities for two 6 DOF arm robots. First we show the direct kinematics and D-H parameters derived for these two arms. The Geometric jacobian is computed for Barrett WAM and Smokie OUR. By analyzing the jacobian matrices we find the configurations at which J is rank deficient and derive the kinematic singularities through jacobian's determinent. Schematic are provided to show the singular configurations of both robots. Finally a survey is done on redundant kinematic allocation schemesfor 7 DoF Barrett WAM.