Open AccessSingularity Analysis of Redundant Space Robot with the Structure of Canadarm2
Author(s) -
Gang Chen,
Long Zhang,
Qingxuan Jia,
Hanxu Sun
Publication year - 2014
Publication title -
mathematical problems in engineering
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.262
H-Index - 62
eISSN - 1026-7077
pISSN - 1024-123X
DOI - 10.1155/2014/735030
Subject(s) - jacobian matrix and determinant , singularity , parallel manipulator , robot , point (geometry) , mathematics , basis (linear algebra) , singular point of a curve , matrix (chemical analysis) , screw theory , space (punctuation) , control theory (sociology) , topology (electrical circuits) , computer science , mathematical analysis , artificial intelligence , geometry , materials science , control (management) , combinatorics , composite material , operating system
A novel method of singularity analysis for redundant space robot with the structure of Canadarm2 is proposed in this paper. This kind of structure has the characteristics of three consecutive parallel axes. First, the “virtual manipulator” method is employed to transfer the singularity problem of a space robot to that of a ground one. By choosing an appropriate reference system and a reference point of the end-effector, Jacobian matrix is greatly simplified and then it is reconstructed according to a new standard. On this basis, the Jacobian matrix can be partitioned into four submatrixes whose degradation conditions are put forward; thereafter, the singularity conditions and singular directions of the redundant space robot are obtained. The effectiveness of the proposed singularity analysis method is verified through simulation
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