A novel inverse kinematics method for 6-DOF robots with non-spherical wrist
Sign Up to like & getrecommendations! Published in 2021 at "Mechanism and Machine Theory"
DOI: 10.1016/j.mechmachtheory.2020.104180
Abstract: Abstract A novel numerical method is proposed to solve the inverse kinematics for 6-DOF robots with non-spherical wrist in this paper, which firstly simplifies the non-spherical wrist structure to a spherical one. In each iteration… read more here.
Keywords: inverse kinematics; dof robots; spherical wrist; kinematics ... See more keywords
A New Gantry-Tau-Based Mechanism Using Spherical Wrist and Model Predictive Control-Based Motion Cueing Algorithm
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DOI: 10.1017/s0263574719001516
Abstract: SUMMARY The 3 degree-of-freedom Gantry-Tau manipulator with the addition of the spherical wrist mechanism which is called Gantry-Tau-3R is designed as a high-G simulation-based motion platform (SBMP) with the capability of generating the large linear… read more here.
Keywords: mechanism; gantry tau; spherical wrist; motion ... See more keywords
Spherical Wrist With Hybrid Motion-Impedance Control for Enhanced Robotic Manipulations
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DOI: 10.1109/tro.2021.3099310
Abstract: This article presents a back-drivable spherical wrist with smart compliance for rendering human wrist-like capabilities in robotic applications. In order to synthetically impose both motion accuracy and active compliance for dedicated wrist manipulations, a robust… read more here.
Keywords: spherical wrist; control; motion impedance; wrist ... See more keywords
Singularity parametrization with a novel kinematic decoupled model for non-spherical wrist robots
Sign Up to like & getrecommendations! Published in 2023 at "Journal of Mechanisms and Robotics"
DOI: 10.1115/1.4062586
Abstract: Most of the current commercial collaborative robots present a non-spherical wrist, so they cannot utilize singularity handling techniques efficiently to avoid excessive safety stops while dynamically avoiding collisions. These robots usually require heavier algorithms due… read more here.
Keywords: singularity; non spherical; spherical wrist; model ... See more keywords