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Title: Task decoupling in robot manipulators
Authors: Tourassis, V.D.
Ang Jr., M.H. 
Keywords: Inverse kinematics
robot motion
robot position and orientation
robot tasks
task decoupling
Issue Date: Nov-1995
Citation: Tourassis, V.D., Ang Jr., M.H. (1995-11). Task decoupling in robot manipulators. Journal of Intelligent & Robotic Systems 14 (3) : 283-302. ScholarBank@NUS Repository.
Abstract: Task decoupling in robotic manipulators implies that there is a subset of joints primarily responsible for the completion of a subset of the manipulator task. In this paper, we take a novel and general view of task decoupling in which we identify link subsystems primarily responsible for completion of a subset of the manipulator task components, which is not necessarily position or orientation. Our analysis leads to the discovery of other decoupled manipulator geometries never identified before, wherein the decoupled system is responsible for a subset of degress-of-freedom involving a hybrid combination of both position and orientation. Closed-form inverse kinematic solutions for these manipulator geometries are therefore guaranteed. Task decoupling also implied singularity decoupling wherein singularities of decoupled subsystems are equivalent to the manipulator singularities. The analysis leads to a novel and efficient method for identifying the singularities and solving the inverse kinematics problem of six-axes manipulators with decoupled geometries. The practicality of the concepts introduced is demonstrated through an industrial robot example involving a hybrid position and orientation decoupling. © 1995 Kluwer Academic Publishers.
Source Title: Journal of Intelligent & Robotic Systems
ISSN: 09210296
DOI: 10.1007/BF01258353
Appears in Collections:Staff Publications

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