The Singularity-Avoidance Analysis of a 7-DOF Cable-Driven Manipulator
A new approach to avoid kinematic singularity of a 7-DOF Cable-driven manipulator by numerical solution is presented. Because the minimum singular value of Jacobian matrix can be calculated real-time by numerical inverse kinematic solution that we developed, we set the reciprocal of minimum singular value as kinematic performance criterion, so that the gradient of optimized function can be approximately calculated as reciprocal difference of the minimum singular values coming from fore-and-aft two interpolations. Aimed at the choice of cable-driven manner, firstly a cable-driven mechanism with coupling between elbow and wrist joints, and between shoulder and elbow joints is designed. Secondly, through considering the relationship among the pose of end-effector, joint angles, and cable lengths, the kinematic algorithm of the manipulator is proposed. Thirdly, based on the developed numerical inverse kinematics, a kinematic redundancy solution is induced to avoid singularity by approximately set the gradient of performance criterion to be optimized. Finally, the simulation is given out to verify the effectiveness of the proposed approach.
Weihai Chen Huihua Wang Shouqian Yu Yinzhao Lei
School of Automation Science and Electrical Engineering Beijing University of Aeronautics and Astronautics Beijing 100083, China
国际会议
南宁
英文
2007-07-20（万方平台首次上网日期，不代表论文的发表时间）