Details
| Original language | English |
|---|---|
| Article number | 68 |
| Journal | Robotics |
| Volume | 8 |
| Issue number | 3 |
| Early online date | 6 Aug 2019 |
| Publication status | Published - Sept 2019 |
Abstract
Industrial manipulators and parallel robots are often used for tasks, such as drilling or milling, that require three translational, but only two rotational degrees of freedom ("3T2R"). While kinematic models for specific mechanisms for these tasks exist, a general kinematic model for parallel robots is still missing. This paper presents the definition of the rotational component of kinematic constraints equations for parallel robots based on two reciprocal sets of Euler angles for the end-effector orientation and the orientation residual. The method allows completely removing the redundant coordinate in 3T2R tasks and to solve the inverse kinematics for general serial and parallel robots with the gradient descent algorithm. The functional redundancy of robots with full mobility is exploited using nullspace projection.
Keywords
- 3T2R task, Five-DoF task, Functional redundancy, Inverse kinematics, Parallel robot, Reciprocal Euler angles, Redundancy resolution, Task redundancy
ASJC Scopus subject areas
- Engineering(all)
- Mechanical Engineering
- Mathematics(all)
- Control and Optimization
- Computer Science(all)
- Artificial Intelligence
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In: Robotics, Vol. 8, No. 3, 68, 09.2019.
Research output: Contribution to journal › Article › Research › peer review
}
TY - JOUR
T1 - Modeling Parallel Robot Kinematics for 3T2R and 3T3R Tasks Using Reciprocal Sets of Euler Angles
AU - Schappler, Moritz
AU - Tappe, Svenja
AU - Ortmaier, Tobias
N1 - Funding information: The financial support from the Deutsche Forschungsgemeinschaft (German Research Foundation, DFG) under grant number OR 196/33-1 is gracefully acknowledged.
PY - 2019/9
Y1 - 2019/9
N2 - Industrial manipulators and parallel robots are often used for tasks, such as drilling or milling, that require three translational, but only two rotational degrees of freedom ("3T2R"). While kinematic models for specific mechanisms for these tasks exist, a general kinematic model for parallel robots is still missing. This paper presents the definition of the rotational component of kinematic constraints equations for parallel robots based on two reciprocal sets of Euler angles for the end-effector orientation and the orientation residual. The method allows completely removing the redundant coordinate in 3T2R tasks and to solve the inverse kinematics for general serial and parallel robots with the gradient descent algorithm. The functional redundancy of robots with full mobility is exploited using nullspace projection.
AB - Industrial manipulators and parallel robots are often used for tasks, such as drilling or milling, that require three translational, but only two rotational degrees of freedom ("3T2R"). While kinematic models for specific mechanisms for these tasks exist, a general kinematic model for parallel robots is still missing. This paper presents the definition of the rotational component of kinematic constraints equations for parallel robots based on two reciprocal sets of Euler angles for the end-effector orientation and the orientation residual. The method allows completely removing the redundant coordinate in 3T2R tasks and to solve the inverse kinematics for general serial and parallel robots with the gradient descent algorithm. The functional redundancy of robots with full mobility is exploited using nullspace projection.
KW - 3T2R task
KW - Five-DoF task
KW - Functional redundancy
KW - Inverse kinematics
KW - Parallel robot
KW - Reciprocal Euler angles
KW - Redundancy resolution
KW - Task redundancy
UR - http://www.scopus.com/inward/record.url?scp=85072755721&partnerID=8YFLogxK
U2 - 10.3390/robotics8030068
DO - 10.3390/robotics8030068
M3 - Article
VL - 8
JO - Robotics
JF - Robotics
SN - 0167-8493
IS - 3
M1 - 68
ER -