ANALYSIS OF ROBOTS WITH REDUNDANCY (DUAL NUMBER, EFFICIENCY, SINGULARITY AVOIDANCE)
Abstract
Industrial robots with six independent joints may be inefficient when environmental constraints are imposed or singularity situations occur due to a combination of displacements of some joints. An insertion of additional joints into the robot can solve the problems. This dissertation derives and proposes three principal criteria: efficiency, flexibility and singularity avoidance to provide a set of quantitative measures for design of the robots both with six joints and having redundant joints. Using these quantitative computations, the questions where and what types (revolute or prismatic) of redundant joints should be inserted to achieve the optimal performance can be easily answered. In this dissertation, the behaviors of both translational and rotational singularities and the optimal control law on the null space of the Jacobian matrix are also discussed in detail. A number of real 3-dimensional examples illustrates and verifies the theories and the algorithms proposed in the dissertation.
Degree
Ph.D.
Subject Area
Computer science
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