An approach dealing with wrist singularity of Six-DOF industrial robots

	An approach dealing with wrist singularity of Six-DOF industrial robots
	Huang YC(黄玉钏); Qu DK(曲道奎); Xu F(徐方); Zhang WX(张文香)
	2012
会议名称	2nd International Conference on Mechatronics and Intelligent Materials 2012, MIM 2012
会议日期	May 18-19, 2012
会议地点	GuiLin, China
关键词	Intelligent materials Inverse kinematics Machine design Robot applications
页码	1936-1940
中文摘要	This paper presents an engineering method for analyzing the kinematics and inverse kinematics of a kind of Six-DOF industrial robots. Firstly, we build an engineering coordinate system for this kind robot, and then get expressions of closed-form solutions to both kinematics and inverse kinematics. From the process of deducing the expressions of closed-form solutions, we can analyze common singularities existing in workspace. Lastly, we design programs for both kinematics and inverse kinematics and simulate the movement of this kind robot. This method, compared with the structures of traditional solutions, is easier and understandability by leading into two conceptions- the position end and the tool end. What is more significant is that the robot can move safely when the wrist is under the singularity by using transitional stage. The transitional stage can make the tool of the robot move a line without join angel sudden change. The program solves the problem that all domestic industrial robots can not move when the wrist is under the singularity. This program is realized successfully on the welding robot of SIASUN Corporation. © (2012) Trans Tech Publications, Switzerland.
收录类别	EI ; CPCI（ISTP）
产权排序	1
会议录	Advanced Materials Research
会议录出版者	Trans Tech Publications
会议录出版地	Clausthal-Zellerfeld, Germany
语种	英语
ISSN号	1022-6680
ISBN号	978-3-03785-384-9
WOS记录号	WOS:000312926100391
内容类型	会议论文
源URL	[http://ir.sia.cn/handle/173321/10137]
专题	沈阳自动化研究所_其他
推荐引用方式 GB/T 7714	Huang YC,Qu DK,Xu F,et al. An approach dealing with wrist singularity of Six-DOF industrial robots[C]. 见:2nd International Conference on Mechatronics and Intelligent Materials 2012, MIM 2012. GuiLin, China. May 18-19, 2012.