Singularity Analysis of Redundant Space Robot with the Structure of Canadarm2
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...
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2014-01-01
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Series: | Mathematical Problems in Engineering |
Online Access: | http://dx.doi.org/10.1155/2014/735030 |
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doaj-3fb013f093a24d5aa53cf347391b9bae2020-11-24T23:50:24ZengHindawi LimitedMathematical Problems in Engineering1024-123X1563-51472014-01-01201410.1155/2014/735030735030Singularity Analysis of Redundant Space Robot with the Structure of Canadarm2Gang Chen0Long Zhang1Qingxuan Jia2Hanxu Sun3School of Automation, Beijing University of Posts and Telecommunications, Beijing 100876, ChinaSchool of Automation, Beijing University of Posts and Telecommunications, Beijing 100876, ChinaSchool of Automation, Beijing University of Posts and Telecommunications, Beijing 100876, ChinaSchool of Automation, Beijing University of Posts and Telecommunications, Beijing 100876, ChinaA 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.http://dx.doi.org/10.1155/2014/735030 |
collection |
DOAJ |
language |
English |
format |
Article |
sources |
DOAJ |
author |
Gang Chen Long Zhang Qingxuan Jia Hanxu Sun |
spellingShingle |
Gang Chen Long Zhang Qingxuan Jia Hanxu Sun Singularity Analysis of Redundant Space Robot with the Structure of Canadarm2 Mathematical Problems in Engineering |
author_facet |
Gang Chen Long Zhang Qingxuan Jia Hanxu Sun |
author_sort |
Gang Chen |
title |
Singularity Analysis of Redundant Space Robot with the Structure of Canadarm2 |
title_short |
Singularity Analysis of Redundant Space Robot with the Structure of Canadarm2 |
title_full |
Singularity Analysis of Redundant Space Robot with the Structure of Canadarm2 |
title_fullStr |
Singularity Analysis of Redundant Space Robot with the Structure of Canadarm2 |
title_full_unstemmed |
Singularity Analysis of Redundant Space Robot with the Structure of Canadarm2 |
title_sort |
singularity analysis of redundant space robot with the structure of canadarm2 |
publisher |
Hindawi Limited |
series |
Mathematical Problems in Engineering |
issn |
1024-123X 1563-5147 |
publishDate |
2014-01-01 |
description |
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. |
url |
http://dx.doi.org/10.1155/2014/735030 |
work_keys_str_mv |
AT gangchen singularityanalysisofredundantspacerobotwiththestructureofcanadarm2 AT longzhang singularityanalysisofredundantspacerobotwiththestructureofcanadarm2 AT qingxuanjia singularityanalysisofredundantspacerobotwiththestructureofcanadarm2 AT hanxusun singularityanalysisofredundantspacerobotwiththestructureofcanadarm2 |
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