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Abstract: The position sub-manifold and
orientation sub-manifold are defined for the redundant robots in which the end manipulator’s position and orientation are decoupled. The end manipulator’s workspace is divided into three subspaces according to the difference of position sub-manifold and orientation sub-manifold. The position sub-manifold and the orientation sub-manifold in all subspaces are expressed as parameter equations by vector algebra, so the self-motion manifold can be obtained as the matched pair that is formed by position sub-manifold and orientation sub-manifold. A simulation is carried out in the first subspace to obtain the self-motion manifolds for a given point, and the result is verified by forward kinematics. The method to solve self-motion manifold with position sub-manifold and orientation sub-manifold is also valid for other kinds of redundant robots in which the end manipulator’s position and orientation are decoupled.
Key words: Redundant robot Self-motion
Self-motion manifold Inverse kinematics
CLC No: TP242
Received 20060730 , received in revised form 20070319
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