Inverse Kinematics and Singularities of Manipulators with Offset Wrist
نویسنده
چکیده
The double universal joint robot wrist can eliminate singularities which limit the performance of existing industrial robot wrists. Unfortunately, this singularity-free wrist has an offset which prevents decoupling of the position and orientation in the manipulator inverse kinematics problem. Closed-form solutions are difficult, if not impossible, to find. This paper solves the inverse position kinematics problem of manipulators with the double universal joint wrist. Common regional manipulator types are used to demonstrate the solutions. A numerical singularity analysis is presented for manipulators with the offset double universal joint wrist. The results point to the existence of coupled position and orientation singularities which are difficult to enumerate. Therefore, this offset singularity-free wrist actually worsens the overall manipulator singularity problem.
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