Please use this identifier to cite or link to this item: https://doi.org/10.1007/BF01258353
DC FieldValue
dc.titleTask decoupling in robot manipulators
dc.contributor.authorTourassis, V.D.
dc.contributor.authorAng Jr., M.H.
dc.date.accessioned2014-06-17T05:18:11Z
dc.date.available2014-06-17T05:18:11Z
dc.date.issued1995-11
dc.identifier.citationTourassis, 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. https://doi.org/10.1007/BF01258353
dc.identifier.issn09210296
dc.identifier.urihttp://scholarbank.nus.edu.sg/handle/10635/58765
dc.description.abstractTask 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.
dc.description.urihttp://libproxy1.nus.edu.sg/login?url=http://dx.doi.org/10.1007/BF01258353
dc.sourceScopus
dc.subjectInverse kinematics
dc.subjectrobot motion
dc.subjectrobot position and orientation
dc.subjectrobot tasks
dc.subjectsingularities
dc.subjecttask decoupling
dc.typeArticle
dc.contributor.departmentMECHANICAL & PRODUCTION ENGINEERING
dc.description.doi10.1007/BF01258353
dc.description.sourcetitleJournal of Intelligent & Robotic Systems
dc.description.volume14
dc.description.issue3
dc.description.page283-302
dc.description.codenJIRSE
dc.identifier.isiutA1995TH99500003
Appears in Collections:Staff Publications

Show simple item record
Files in This Item:
There are no files associated with this item.

SCOPUSTM   
Citations

9
checked on Dec 1, 2021

WEB OF SCIENCETM
Citations

6
checked on Dec 1, 2021

Page view(s)

110
checked on Dec 2, 2021

Google ScholarTM

Check

Altmetric


Items in DSpace are protected by copyright, with all rights reserved, unless otherwise indicated.