Event Details
Reciprocity-Based Resolution of Velocity-Degenerate (Singular) Configurations of Redundant Manipulators
Presenter: Mr. Scott Nokleby - Department of Mechanical Engineering
Supervisor:
Date: Tue, August 13, 2002
Time: 10:30:00 - 11:30:00
Place: EOW 430
ABSTRACT
ABSTRACT
A methodology for determining the velocity-degenerate (singular) configurations of joint-redundant manipulators will be presented. A velocity-degenerate configuration is a configuration in which a manipulator can not perform an arbitrary instantaneous motion. The developed methodology uses the properties of reciprocal screws to determine all degenerate configurations resulting in a single degree-of-freedom (DOF) motion loss. A by-product of the methodology is that reciprocal screws for all degenerate configurations are derived. It is with these reciprocal screw quantities that the lost instantaneous motion DOF can be characterized. Examples are presented to demonstrate the effectiveness of the methodology at determining the 1-DOF loss velocity-degenerate configurations for joint-redundant manipulators. The extension of the methodology for identifying 1-DOF loss velocity-degenerate configurations to the problem of identifying multi-DOF loss will also be presented.
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For Further Information Please Contact: Scott Nokleby (472-4065)