A Study on Dynamic Characteristics of Two-link Robot Arm near Singular Congurations

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  • Urakubo Takateru
    Graduate School of System Informatics, Kobe University
  • Wan Xianglong
    Graduate School of System Informatics, Kobe University
  • Mashimo Tomoaki
    Electronics-Inspired Interdisciplinary Research Institute, Toyohashi University of Technology

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  • 特異姿勢付近における2リンクロボットアームの動力学的性質に関する考察
  • トクイ シセイ フキン ニ オケル 2 リンクロボットアーム ノ ドウリキガクテキ セイシツ ニ カンスル コウサツ

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Abstract

For a serial linkage mechanism, the kinematic relationship between the end effector and the joint angles is nonlinear. The kinematics highly affects the dynamics of the mechanism near singular configurations where the relationship is singular. In this paper, we examine dynamic characteristics of singular configurations for a two-link robot arm, and show that the singular configurations are advantageous in reducing the joint torques necessary to achieve the task of pulling a heavy object.

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