Hostname: page-component-586b7cd67f-t7czq Total loading time: 0 Render date: 2024-11-25T22:15:42.054Z Has data issue: false hasContentIssue false

General method for kinematic synthesis of manipulators with task specifications

Published online by Cambridge University Press:  01 November 1997

F.B. Ouezdou
Affiliation:
Laboratoire de Robotique de Paris, U.P.M.C.-U.V.S.Q., CNRS URA 1778, 10-12 Avenue de L'Europe, 78140 Vélizy , France. E-mail: [email protected]
S. Régnier
Affiliation:
Laboratoire de Robotique de Paris, U.P.M.C.-U.V.S.Q., CNRS URA 1778, 10-12 Avenue de L'Europe, 78140 Vélizy , France. E-mail: [email protected]

Abstract

This paper deals with the kinematic synthesis of manipulators. A new method based on distributed solving is used to determine the dimensional parameters of a general manipulator which is able to reach a set of given tasks specified by orientation and position. First, a general Distributed Solving Method (DSM) is presented in three steps: the problem statement, the objective functions formulations and the minimum parameters values determination. Then, this method is applied to solve the synthesis of the Denavit and Hartenberg set of parameters of a manipulator with a given kinematic structure. In this case, the kind and the number of joints are specified and a set of constraints are included such as joint limits, range of dimensional parameters and geometrical obstacles avoidance. We show that if the Denavit and Hartenberg parameters (DH) are known, the synthesis problem is reduced to an inverse kinematic problem. We show also how the problem of robot base placement can be solved by the same method. A general algorithm is given for solving the synthesis problem for all kind of manipulators. The main contribution of this paper is a general method for kinematic synthesis of all kind of manipulators and some examples are presented for a six degrees of freedom manipulator in cluttered environment.

Type
Research Article
Copyright
© 1997 Cambridge University Press

Access options

Get access to the full version of this content by using one of the access options below. (Log in options will check for institutional or personal access. Content may require purchase if you do not have access.)