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Kinematics for the whole arm of a serial-chain manipulator

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This paper provides a viewpoint for kinematics for the whole arm of a serial-chain manipulator with 2-d.o.f. rotational joints. An in-depth understanding of the duality between a rigid link and a 2-d.o.f. joint allows us to derive simple and geometric equations describing the manipulator kinematics. The obtained kinematic equations are analyzed in two ways compared with the Frenet-Serret formula of a spatial curve which is utilized for a reference shape of the manipulator. One way is based on limit analysis where we increase the number of joints while the total length of the manipulator remains constant. The other way utilizes an extended mechanism through the link-joint duality. The information presented in this paper is useful for mechanism design dynamic analysis, control design and motion planning of the manipulators in whole-arm manipulation.
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Keywords: DUALITY BETWEEN POINTS AND LINES; FRENET-SERRET FORMULA; KINEMATICS; SERIAL-CHAIN MANIPULATORS; WHOLE-ARM MANIPULATION

Document Type: Research Article

Affiliations: Department of Mechanical Systems Engineering, National Defense Academy, Hashirimizu 1-10-20, Yokosuka, Kanagawa 239-8686, Japan

Publication date: 2001-06-01

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