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Singularity Analysis of Redundant Space Robot with the Structure of Canadarm2
Joint Authors
Sun, Hanxu
Jia, Qingxuan
Chen, Gang
Zhang, Long
Source
Mathematical Problems in Engineering
Issue
Vol. 2014, Issue 2014 (31 Dec. 2014), pp.1-9, 9 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2014-06-25
Country of Publication
Egypt
No. of Pages
9
Main Subjects
Abstract EN
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.
American Psychological Association (APA)
Chen, Gang& Zhang, Long& Jia, Qingxuan& Sun, Hanxu. 2014. Singularity Analysis of Redundant Space Robot with the Structure of Canadarm2. Mathematical Problems in Engineering،Vol. 2014, no. 2014, pp.1-9.
https://search.emarefa.net/detail/BIM-494450
Modern Language Association (MLA)
Chen, Gang…[et al.]. Singularity Analysis of Redundant Space Robot with the Structure of Canadarm2. Mathematical Problems in Engineering No. 2014 (2014), pp.1-9.
https://search.emarefa.net/detail/BIM-494450
American Medical Association (AMA)
Chen, Gang& Zhang, Long& Jia, Qingxuan& Sun, Hanxu. Singularity Analysis of Redundant Space Robot with the Structure of Canadarm2. Mathematical Problems in Engineering. 2014. Vol. 2014, no. 2014, pp.1-9.
https://search.emarefa.net/detail/BIM-494450
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-494450