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Optimal path crossing the orientation exclusion zone of a robot with offset wrist

Published online by Cambridge University Press:  21 June 2021

Paul Milenkovic Open the ORCID record for Paul Milenkovic [Opens in a new window]
Paul Milenkovic*
Affiliation:
Department of Electrical and Computer Engineering, University of Wisconsin-Madison, 1415 Engineering Drive, Madison, Wisconsin 53706, USA
*
Email: phmilenk@wisc.edu
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Abstract

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An unexpected path reversal is discovered for a serial robot with an offset-axis wrist over a finite range of proximity to the wrist singularity. This is replicated by a kinematic model. A prior spherical-wrist method transits the singularity with limited joint rate and acceleration under a constant rate of tool traversal. Accurate position is maintained by controlling a small deviation in orientation. Extensions to the method for an offset wrist (1) find the least-maximum deviation, (2) identify and locate where a path reversal occurs, and (3) use this point to control step size in a high-order predictor-correction path following procedure.

Keywords

Robotic wristNonsphericalOffset wristTurning pointSingularity avoidanceAlgorithmic differentiationPower series expansion
Type
Article
Information
Robotica , Volume 40 , Issue 1 , January 2022 , pp. 191 - 212
Creative Commons
Creative Common License - CCCreative Common License - BYCreative Common License - NCCreative Common License - ND
This is an Open Access article, distributed under the terms of the Creative Commons Attribution-NonCommercial-NoDerivatives licence (http://creativecommons.org/licenses/by-nc-nd/4.0), which permits non-commercial re-use, distribution, and reproduction in any medium, provided that no alterations are made and the original article is properly cited. The written permission of Cambridge University Press must be obtained prior to any commercial use and/or adaptation of the article.
Copyright
© The Author(s), 2021. Published by Cambridge University Press

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