Singularity-Free Workspaces of Industrial Manipulators

• Main Authors: Jia-De Zhou, 周家德
• Other Authors: Kao-Yueh Tsai
• Format: Others
• Language: zh-TW
• Published: 2017
• Online Access: http://ndltd.ncl.edu.tw/handle/95bvy6

碩士 === 國立臺灣科技大學 === 機械工程系 === 105 === The workspace of a serial manipulator has been thoroughly studied for decades and various approaches have been proposed to determine different types of workspaces. This work focuses on a special type of workspace that is rarely investigated: singularity-free workspaces considering the effect of joint limits. Efficient methods are first proposed to develop the determinant of the Jacobian matrix for two types of industrial manipulators: the manipulators with the last three axes intersected at one point and the manipulators with two axes intersected at one point. The determinant is then employed to develop singular curves and pseudo singular curves. These curves are used to (i) study the mapping between the joint space and the workspace; (ii) determine which branch of inverse kinematic solutions has maximum workspace and (iii) investigate the effect of joint limits on the size of the workspace. Different methods that develop subspaces with joint limits and singular curves as their boundaries are presented to obtain all the singularity-free workspaces of a manipulator. The dexterity and mechanical efficiency related to any singularity-free workspace can also be evaluated in the process in order to choose the desired workspace for applications.