Kinematic analysis of 7 DOF anthropomorphic armsA kinematic analysis of anthropomorphic seven-degree-of-freedom serial link spatial manipulators with revolute joints is presented. To uniquely determine joint angles for a given end-effector position and orientation, the redundancy is parameterized by a scalar variable which corresponds to the angle between the arm plane and a reference plane. The forward kinematic mappings from joint-space to end-effector coordinates and arm angle and the augmented Jacobian matrix which gives end-effector and arm angle rates as functions of joint rates are given. Conditions under which the augmented Jacobian becomes singular are given and are shown to correspond to the arm being either at a kinematically singular configuration or at a nonsingular configuration for which the arm angle ceases to parameterize the redundancy.
Document ID
19910050542
Acquisition Source
Legacy CDMS
Document Type
Conference Paper
Authors
Kreutz-Delgado, K. (California, University La Jolla, United States)
Long, M. (California Univ. La Jolla, CA, United States)