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Symbolic computation of robot models for geometric parameters identification with singularity analysis

✍ Scribed by Said M. Megahed

Publisher
Springer Netherlands
Year
1996
Tongue
English
Weight
796 KB
Volume
16
Category
Article
ISSN
0921-0296

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✦ Synopsis

The computation of the geometrical parameters identification model of a robot arm leads to an intrinsic extended Jacobian matrix. This matrix is often singular and its manual computation is tedious and may lead to error. A computer assisted procedure is developed to compute this matrix symbolically and to check its singularity. The program GPIM is developed in Pascal and works on PC's for this purpose. Jacobian singularity is checked using its symbolic expressions with the aid of a proposed table for robot arm parameters to obtain a minimum set of identified parameters. This program can be used for simple chain robot arms having revolute (R) and/or prismatic (P) joints including the case of consecutive near parallel axes. TH8 robot arm of type RPPRRR having two pairs of consecutive near parallel axes is studied to show the program efficiency and how singularity is eliminated.

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