Hybrid Position-Orientation Decoupling in Robot Manipulators

摘要: Kinematic decoupling in robotic manipulators implies that there is a subset of joints primarily responsible for the completion manipulator task. In this paper, we take general view kinematic which identify link subsystems hybrid combination both position and orientation. Our analysis leads to discovery decoupled geometries, closed-form inverse solutions are guaranteed. also singularity wherein singularities equivalent singularities. The another method identifying solving kinematics problem six-axes, serial-chain with geometries. practicality concepts introduced demonstrated through an industrial robot example involving orientation decoupling.