KINEMATIC SINGULARITY ANALYSIS AND SIMULATION FOR 7DOF ANTHROPOMORPHIC MANIPULATOR

摘要

The determination and analysis of the singular or velocity-degenerate configurations of the KUKA LBR iiwa 7 R800 robot is presented. The KUKA LBR iiwa 7 R800 robot is a 7-joint serial lightweight manipulator. Firstly,we constructed the kinematics model for iiwa robot and the DH parameters was derived. Secondly, theJacobeanmatrix was computed based on screw theory and the concept of screw reciprocity was used to find the singular (velocity-degenerate) configurations. Finally, the dexterity of end reference point of iiwa robot was analysed based on manipulability index and the minimum singular value index by means of the Robotics Toolbox.The analysis results show that there are four sigular conditions of the KUKA LBR iiwa 7 R800 robot within its workspace, the simulation results verified the correctness of the analysis in this article, and it lays a fonundation for subsequent singularity avoidance research.