Four-Joint Redundant Wrist Mechanism and Its Control

[+] Author and Article Information
Tsuneo Yoshikawa, Shigeo Kiriyama

Automation Research Laboratory, Kyoto University, Uji, Kyoto 611, Japan

J. Dyn. Sys., Meas., Control 111(2), 200-204 (Jun 01, 1989) (5 pages) doi:10.1115/1.3153037 History: Received November 01, 1986; Online July 21, 2009


It is known that conventional three-joint wrists of robot manipulators have two conical regions of degeneracy in which the ability of the wrist to orient the end-effector is poor, A four-joint wrist mechanism is proposed in this paper as a means of overcoming this degeneracy problem. The manipulating ability of this wrist with respect to the end-effector orientation is analyzed using the manipulability measure. A pseudoinverse control algorithm for this redundant wrist mechanism is developed and its effectiveness is shown by experiments.

Copyright © 1989 by ASME
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