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Robot singularities under small perturbations in the kinematic parameters

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Date Issued:
1989
Summary:
When small perturbations in the kinematic parameters of a robot are taken into consideration, the model of a robot no longer contains perfect parallelism and perpendicularity that makes the nominal inverse kinematics so simple. In particular, the effect of joint axis misalignments and small perturbations in the kinematic parameters on the robot singularities is of interest. This aspect is particularly important when planning the workspace of a robot that must undergo calibration. To utilize the work volume most efficiently, one must know exactly what points are permissible as taught points. In other words, reachable workspace must be clearly defined to avoid the robot from entering the singularity zones not only of the nominal robot but also of all future actual robots. Once singularity zones for the actual robot are correctly identified, workspace planning becomes a simple task. In this thesis the relationship between small perturbations in kinematic parameters and singularities of a simple three-revolute articulated arm are studied. It is shown that singularities in such a robot do shift to new locations.
Title: Robot singularities under small perturbations in the kinematic parameters.
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Name(s): Mohile, Ajey Avinash.
Florida Atlantic University, Degree grantor
Roth, Zvi S., Thesis advisor
College of Engineering and Computer Science
Department of Computer and Electrical Engineering and Computer Science
Type of Resource: text
Genre: Electronic Thesis Or Dissertation
Issuance: monographic
Date Issued: 1989
Publisher: Florida Atlantic University
Place of Publication: Boca Raton, Fla.
Physical Form: application/pdf
Extent: 115 p.
Language(s): English
Summary: When small perturbations in the kinematic parameters of a robot are taken into consideration, the model of a robot no longer contains perfect parallelism and perpendicularity that makes the nominal inverse kinematics so simple. In particular, the effect of joint axis misalignments and small perturbations in the kinematic parameters on the robot singularities is of interest. This aspect is particularly important when planning the workspace of a robot that must undergo calibration. To utilize the work volume most efficiently, one must know exactly what points are permissible as taught points. In other words, reachable workspace must be clearly defined to avoid the robot from entering the singularity zones not only of the nominal robot but also of all future actual robots. Once singularity zones for the actual robot are correctly identified, workspace planning becomes a simple task. In this thesis the relationship between small perturbations in kinematic parameters and singularities of a simple three-revolute articulated arm are studied. It is shown that singularities in such a robot do shift to new locations.
Identifier: 14476 (digitool), FADT14476 (IID), fau:11274 (fedora)
Collection: FAU Electronic Theses and Dissertations Collection
Note(s): College of Engineering and Computer Science
Thesis (M.S.E.)--Florida Atlantic University, 1989.
Subject(s): Robots--Dynamics
Robots--Motion
Held by: Florida Atlantic University Libraries
Persistent Link to This Record: http://purl.flvc.org/fcla/dt/14476
Sublocation: Digital Library
Use and Reproduction: Copyright © is held by the author, with permission granted to Florida Atlantic University to digitize, archive and distribute this item for non-profit research and educational purposes. Any reuse of this item in excess of fair use or other copyright exemptions requires permission of the copyright holder.
Use and Reproduction: http://rightsstatements.org/vocab/InC/1.0/
Host Institution: FAU
Is Part of Series: Florida Atlantic University Digital Library Collections.