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A Singularity Free Six Degree of Freedom Manipulator

  • F. Di Caprio
  • S. S. Khanuja
  • M. M. Stanišić
  • O. Duta
Conference paper

Abstract

In this paper, one symmetrically actuated double pointing system is used in the shoulder joint, and another is used in the wrist joint, of a six degree of freedom manipulator. The manipulator’s kinematic equations of motion are derived and used to show that the system is free of singularities.

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References

  1. Featherstone, R., 1983, “Position and Velocity Transformations Between End Effector Coordinates and Joint Angles”, Intl. J. Robotics Research, Vol. 2, No. 2, pp. 35–45.CrossRefGoogle Scholar
  2. Duta, O. and Stanisie, M.M., US Patent No. 4, 878, 393.Google Scholar
  3. Duta, O., and Stanisie, M.M., A New Double-Jointed Spherical Robot Wrist with Increased Dexterity, Advances in Robot Kinematics Jozef Stefan Institute, Ljubljana, Yugoslavia, Yugoslav Organizing Comm., pp. 53–60.Google Scholar
  4. Stanisie, M.M., and Duta O., accepted for publication, “Symmetrically Actuated Double Pointing Systems, the Basis of Singularity-Free Robot Wrists”, IEEE Trans. on Robotics and Automation.Google Scholar
  5. Trevelyan, J.P., Kovesi, P.D., Ong, M., and Elford, D., 1986, “ET: A Wrist without Singular Positions”, Intl. J. of Robotics Research, Vol. 4, No. 4, pp. 71–85.CrossRefGoogle Scholar
  6. Rosheim, M., US Patent Nos. 4,686,866,723,460 4, 729, 253.Google Scholar

Copyright information

© Springer-Verlag Wien 1991

Authors and Affiliations

  • F. Di Caprio
    • 1
  • S. S. Khanuja
    • 1
  • M. M. Stanišić
    • 1
  • O. Duta
    • 2
  1. 1.Mech. Engr. Dept.University of Notre DameNotre DameUSA
  2. 2.Doerr ElectricDivision of EmersonSt. LouisUSA

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