Abstract
In this paper, we judge whether the singularity occurs among the path of dual 6-DOF manipulator using manipulability and analyze the characteristics in the velocity space of the straight path and alternative path what avoids the singularity using manipulability ellipsoid. To do this, we solved the inverse kinematics of the manipulator and made simulator in MATLAB. In this simulator, the path can be set in advance and change of manipulability and manipulability ellipsoid can be observed. This allows better path to be determined in advance before following it. Experiments has confirmed that singularity occurs in straight path and eigenvalue in the direction of yaw is zero. In addition, the alternative path is identified as an improved path due to the large eigenvalue in the direction of pitch and yaw. Since this result can be used as an indicator for evaluating the agent’s state, we intend to apply to reinforcement learning and research to create a singularity avoidance path by the robot itself.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
References
Kim, D.-E., Park, D.-J., Park, J.-H., Lee, J.-M.: Collision and singularity avoidance path planning of 6-DOF dual-arm manipulator. In: Chen, Z., Mendes, A., Yan, Y., Chen, S. (eds.) ICIRA 2018. LNCS (LNAI), vol. 10985, pp. 195–207. Springer, Cham (2018). https://doi.org/10.1007/978-3-319-97589-4_17
Liu, X., Zhao, F., Liu, B., Mei, X.: Multi-point interaction force estimation for robot manipulators with flexible joints using joint torque sensors. In: Yu, H., Liu, J., Liu, L., Ju, Z., Liu, Y., Zhou, D. (eds.) ICIRA 2019. LNCS (LNAI), vol. 11742, pp. 499–508. Springer, Cham (2019). https://doi.org/10.1007/978-3-030-27535-8_45
Xu, Y., Hu, J., Zhang, D., Yao, J., Zhao, Y.: A five-degree-of-freedom hybrid manipulator for machining of complex curved surface. In: Huang, Y.A., Wu, H., Liu, H., Yin, Z. (eds.) ICIRA 2017. LNCS (LNAI), vol. 10463, pp. 48–58. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-65292-4_5
Zheng, W., Chen, M.: Tracking control of manipulator based on high-order disturbance observer. IEEE Access 6, 26753–26764 (2018)
Reboucas Filho, P.P., Da Silva, S.P.P., Praxedes, V.N., Hemanth Jude, De Albuquerque V.H.C.: Control of singularity trajectory tracking for robotic manipulator by genetic algorithms. J. Comput. Sci. 30, 55–64 (2019)
Yoshikawa, T.: Analysis and control of robot manipulators with redundancy. In: Robotic Research. The First International Syposium, pp. 735–747 (1984)
Merlet, J.P.: Jacobian, manipulability, condition number, and accuracy of parallel robots. ASME J. Mech. Des. 128(1), 199–206 (2005)
Vahrenkamp, N., Asfour, T., Metta, G., Sandini, G., Dillmann, R.: Manipulability analysis. In: 2012 12th IEEE-RAS International Conference on Humanoid Robots, Osaka, pp. 568–573 (2012)
Chiacchio, P.: A new dynamic manipulability ellipsoid for redundant manipulators. Robotica 18(4), 381–387 (2000)
Rozo, L., Jaquier, N., Calinon, S., Caldwell, D.G.: Learning manipulability ellipsoids for task compatibility in robot manipulation. In: 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems, Vancouver, BC, pp. 3183–3189 (2017)
Chiaverini, S.: Singularity-robust task-priority redundancy resolution for real-time kinematic control of robot manipulators. IEEE Trans. Robot. Autom. 13(3), 398–410 (1997)
Nakai, K., et al.: Control of robot in singular configurations for human-robot coordination. In: Proceedings. 11th IEEE International Workshop on Robot and Human Interactive Communication. IEEE (2002)
Robohub Homepage, https://robohub.org/3-types-of-robot-singularities-and-how-to-avoid-them. Accessed 27 Sept 2020
Acknowledgement
This research is based upon work supported by the Ministry of Trade, Industry & Energy (MOTIE, Korea) under Industrial Technology Innovation Program. No. 10073147
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2020 Springer Nature Switzerland AG
About this paper
Cite this paper
Lee, JH., Bang, JU., Lee, JM. (2020). Determination of Singularity Occurrence and Characteristic Analysis of Dual 6-DOF Manipulator Using Manipulability and Manipulability Ellipsoid. In: Chan, C.S., et al. Intelligent Robotics and Applications. ICIRA 2020. Lecture Notes in Computer Science(), vol 12595. Springer, Cham. https://doi.org/10.1007/978-3-030-66645-3_32
Download citation
DOI: https://doi.org/10.1007/978-3-030-66645-3_32
Published:
Publisher Name: Springer, Cham
Print ISBN: 978-3-030-66644-6
Online ISBN: 978-3-030-66645-3
eBook Packages: Computer ScienceComputer Science (R0)