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Kinematic equations for control of the redundant eight-degree-of-freedom advanced research manipulator 2
| Content Provider | NASA Technical Reports Server (NTRS) |
|---|---|
| Author | Williams II, Robert L. |
| Copyright Year | 1992 |
| Description | The forward position and velocity kinematics for the redundant eight-degree-of-freedom Advanced Research Manipulator 2 (ARM2) are presented. Inverse position and velocity kinematic solutions are also presented. The approach in this paper is to specify two of the unknowns and solve for the remaining six unknowns. Two unknowns can be specified with two restrictions. First, the elbow joint angle and rate cannot be specified because they are known from the end-effector position and velocity. Second, one unknown must be specified from the four-jointed wrist, and the second from joints that translate the wrist, elbow joint excluded. There are eight solutions to the inverse position problem. The inverse velocity solution is unique, assuming the Jacobian matrix is not singular. A discussion of singularities is based on specifying two joint rates and analyzing the reduced Jacobian matrix. When this matrix is singular, the generalized inverse may be used as an alternate solution. Computer simulations were developed to verify the equations. Examples demonstrate agreement between forward and inverse solutions. |
| File Size | 1421098 |
| Page Count | 28 |
| File Format | |
| Alternate Webpage(s) | http://archive.org/details/NASA_NTRS_Archive_19920024902 |
| Archival Resource Key | ark:/13960/t18m2752m |
| Language | English |
| Publisher Date | 1992-08-01 |
| Access Restriction | Open |
| Subject Keyword | Cybernetics Robot Arms Degrees of Freedom Joints Junctions Robot Control Jacobi Matrix Method Manipulators Singularity Mathematics End Effectors Computerized Simulation Robot Dynamics Telerobotics Kinematic Equations Ntrs Nasa Technical Reports Server (ntrs) Nasa Technical Reports Server Aerodynamics Aircraft Aerospace Engineering Aerospace Aeronautic Space Science |
| Content Type | Text |
| Resource Type | Technical Report |
