Analysis of Singular Configuration of Robotic Manipulators

Abstract

Robotic manipulators inevitably encounter singular configurations in the process of movement, which seriously affects their performance. Therefore, the identification of singular configurations is extremely important. However, serial manipulators that do not meet the Pieper criterion cannot obtain singular configurations through analytical methods. A joint angle parameterization method, used to obtain singular configurations, is here creatively proposed. First, an analytical method based on the Jacobian determinant and the proposed method were utilized to obtain their respective singular configurations of the Stanford manipulator. The singular configurations obtained through the two methods were consistent, which suggests that the proposed method can obtain singular configurations correctly. Then, the proposed method was applied to a seven-degree-of-freedom (7-DOF) serial manipulator and a planar 5R parallel manipulator. Finally, the correctness of the singular configurations of the 7-DOF serial manipulator was verified through the shape of the end-effector velocity ellipsoid, the value of the determinant, the value of the condition number, and the value of the manipulability measure. The correctness of singular configurations of the planar 5R parallel manipulator was verified through the value of the determinant, the value of the condition number, and the value of the manipulability measure.

Workspace and Dexterity Investigation of the Master Robot in Sina flex Robotic Telesurgery System: An in Vivo Validation

“…As it can be inferred from this table, the robot provides high dexterity for the operational workspace with and . The performance of the Sina flex master manipulator is investigated in compared with some of proposed master manipulator/haptic interfaces by the other researchers [10,13,15,[27][28][29] in TABLE II. Based on this table, the dexterity of the proposed master manipulator is comparable with the ones presented in [15,27,28].…”

“…Stanford Manipulator [29] NA A proposed structure [15] Phantom Omni [15,27] 160×120×70 mm 3 A proposed master manipulator [10] 800×800×800 mm 3 PHANToM Desktop haptic device [28] 160×120×120 mm 3 A proposed Haptic Master Manipulator [13] 1.9535×10 8 mm 3…”

Workspace and dexterity analysis of the hybrid mechanism master robot in Sinaflex robotic telesurgery system: An in vivo experiment

“…For a comprehensive analysis of the robot's dexterity, various indices are defined in the literature including the inverse of the condition number (I C ), manipulability (I M ), and minimum singular value (I S ). 26,27 The definition of each of these indices are as (13), where, σ indicates the singular value of the Jacobian, max and min indices denote maximum and minimum, respectively, and m is the number of singular values.…”

Manipulability Analysis of a Tree Type Humanoid Upper-Body Robot with Dual Redundant Arms

“…Manipulability ellipsoids of the robot were determined and used for analysing the dexterity of the robot arm. Translational velocity and rotational velocity ellipsoids used for determining singularity of a robotic arm was demonstrated by Zhang et al [22]. The singular configurations were verified based on the values of condition number and manipulability measurement.…”