Geometry Based Analysis of 3R Serial Robots
- Resource Type
- Authors
- Durgesh Salunkhe; Jose Capco; damien chablat; Philippe Wenger
- Source
- Advances in Robot Kinematics 2022 ISBN: 9783031081392
18th International Symposium on Advances in Robot Kinematics, 2022
18th International Symposium on Advances in Robot Kinematics, 2022, 2022, Bilbao, Spain
HAL
- Subject
- Computer Science::Robotics
[SPI.MECA.GEME] Engineering Sciences [physics]/Mechanics [physics.med-ph]/Mechanical engineering [physics.class-ph]
[SPI.MECA.GEME]Engineering Sciences [physics]/Mechanics [physics.med-ph]/Mechanical engineering [physics.class-ph]
- Language
International audience; Cuspidal robots can travel from one inverse kinematic solution (IKS) to another without meeting a singularity. This property can be analyzed by understanding the inverse kinematic model (IKM) as well as the singularities in the joint space and in the workspace. In this article, we revisit the geometrical interpretation of the IKM with conics. The conditions of getting different conics and their implication on singularities are discussed and the observations regarding the nature of the conics are presented. Further, a sufficient condition for a 3R robot to be binary (i.e. with up to 2 IKS) as well as quaternary (i.e. with up to 4 IKS) is put forth by analyzing the geometrical interpretation of the IKM. The possibility to derive a necessary and sufficient condition is presented too.