Kinematics Singularity Solution and Simulation Analysis of Redundant Manipulator based on Screw Theory

The solution and simulation analysis of the singularity configurations within its workspace of the seven axis cooperative KUKA manipulator is presented. Firstly, the manipulator kinematics model is constructed and the DH parameter is obtained. Secondly, the Jacobian matrix is computed based on screw...

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Bibliographic Details
Main Author: Xinhong Feng
Format: Article
Language:zho
Published: Editorial Office of Journal of Mechanical Transmission 2020-09-01
Series:Jixie chuandong
Subjects:
Online Access:http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2020.09.019
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