Title: Kinematics-Based Studies on a 7-DOF Redundant Manipulator
Authors: Liu, Min-Chih
Tsai, Ho-Hsuan
Hsiao, Tesheng
電控工程研究所
Institute of Electrical and Control Engineering
Keywords: redundant manipulators;7-DOF robots;inverse kinematics;singularity;collision detection
Issue Date: 2014
Abstract: Traditional industrial robots require at least 6-degree-of-freedom (DOF) to completely specify the position and orientation of the end-effector in the 3D space. However, extra DOF enables the robot to accomplish more challenging tasks such as obstacle avoidance, torque optimization, fault tolerance, etc. at the price of increasingly complicated kinematics. This paper is aimed at investigating some kinematics-related problems associated with a 7-DOF robot, including forward kinematics, inverse kinematics, Jacobian matrix, and collision detection, to set up the base for future researches.
URI: http://hdl.handle.net/11536/135858
ISBN: 978-1-4799-4584-9
Journal: 2014 CACS INTERNATIONAL AUTOMATIC CONTROL CONFERENCE (CACS 2014)
Begin Page: 228
End Page: 231
Appears in Collections:Conferences Paper