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Analysis and Control of Articulated Robot Arms with Redundancy

1981; Elsevier BV; Volume: 14; Issue: 2 Linguagem: Inglês

10.1016/s1474-6670(17)63754-6

2589-3653

Hideo Hanafusa, T. Yoshikawa, Yoshihiko Nakamura,

Soft Robotics and Applications

Industrial robot applications have seen remarkable growth in numbers and in diversity of uses. In configuration, it is also slowly changing from cartesian and cylindrical coordinate types to articulated one mainly due to the fact that articulated robot arms are more flexible and versatile. From the view point of control, however, arms of this type possess certain inherent problems. One concerns the nonlinear relation between the position and orientation of the robot hand and the rotational angles of the joints of the arm. Another problem concerns the existence of singular points in the state space of joints, which reduces the robot's degree of freedom. Although it has sometimes been claimed that redundant arms can effectively overcome the problem of singularity and increase flexibility and versatility, these have yet to be studied in full. In this paper, the manipulatability and redundancy of multi-articulated robot arms are analyzed and utilization of redundancy is discussed. Experimental results are also presented concerning the utilization of redundancy for trajectory control with provisions for an obstacle.