The design of isotropic manipulator architectures in the presence of redundancies

Journal Article · Mon Jun 01 00:00:00 EDT 1992 · International Journal of Robotics Research; (United States)

DOI:https://doi.org/10.1177/027836499201100303· OSTI ID:6905050

Angeles, J ^[1]

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1. McGill Univ., Montreal, Quebec (Canada)

The design of redundant isotropic architectures for robotic manipulators is the subject of this article. A manipulator is said to have a redundant isotropic architecture if (1) its number of controlled axes is greater than the dimension of its task space, and (2) it is possible for the manipulator to attain configurations at which all the singular values of its Jacobian matrix are identical and nonzero. The concept of isotropy, which has already been applied to the design of nonredundant manipulators, is applied to the design of redundant ones. General geometric conditions on the manipulator parameters and on its configuration variables under which isotropy is attained are derived.

• OSTI ID: 6905050
• Journal Information: International Journal of Robotics Research; (United States), Journal Name: International Journal of Robotics Research; (United States) Vol. 11:3; ISSN IJRREL; ISSN 0278-3649
• Country of Publication: United States
• Language: English

Related Subjects

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LABORATORY EQUIPMENT
MANIPULATORS
MATERIALS HANDLING EQUIPMENT
MATHEMATICAL LOGIC
MOTION
ORIENTATION
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