Computational kinematics for robotic manipulators: instantaneous motion pattern
Purpose - The purpose of this paper is to provide a general approach to compute, determine, and characterize the connectivity of the end-effector of a robotic manipulator of arbitrary architecture, in any of the postures that it can reach. Design/methodology/approach - The types of motion of this link, i.e. translational, screw motions, combinations thereof, and self-motions, are first defined and determined, simplifying the understanding of the instantaneous behaviour of the manipulator, aided by the definition of an alternative input basis. Findings - The characterization provided by this paper simplifies the understanding of the instantaneous behaviour of the manipulator. The mobility of the end-effector is completely characterized by the principal screws of its motion, which can be obtained from a generalized eigenproblem. In the process, alternative demonstrations of well-known properties of the principal screws are provided. Research limitations/implications - The approach presented is focused on the kinetostatic analysis of manipulators, and therefore, subjected to rigid body assumption. Practical implications - This paper proposes effective approach; for engineering analysis of robotic manipulators. Originality/value - This approach is based on a pure theoretical kinematic analysis that can characterize computationally the motion that the end-effector of an industrial robot of general morphology (i.e. serial, parallel, hybrid manipulators, complex mechanisms, redundant or non-redundantly actuated). Also, being implemented on a general-purpose software for the kinematic analysis of mechanisms, it provides visual information of the motion capabilities of the manipulator, highly valuable on its design stages.
kinematics motion computer software input/output analysis