This paper highlights some of the degeneracies encountered in the inverse kinematics problem (IKP) of a general 6R (revolute jointed) serial robot. It is known that algebraic eliminations introduce certain mathematical degeneracies, encountering which an algorithm may fail. The degeneracy conditions are often overlooked or remains unreported when an algorithm is proposed. Awareness of these conditions becomes important when these algorithms form important cogs of bigger objectives like design, path-planning or control. Kinematic problems often lead to matrices whose entries are polynomials in a single variable. These can, in turn, be treated as polynomials whose coefficients are matrices. Degeneracy study of such systems can be attempted akin to their scalar counterparts, by investigating the conditions that result in the determinant of coefficient matrix associated with the leading term evaluating to zero. The same conditions have been analysed for the IKP of a general 6R, and some of the degenerate cases presented in this paper.
Degenerate Cases in the Inverse Kinematics Problem of a General 6R Serial Robot
Springer Proceedings in Advanced Robotics
International Symposium on Advances in Robot Kinematics ; 2022 ; Bilbao, Spain June 26, 2022 - June 30, 2022
2022-06-18
8 pages
Article/Chapter (Book)
Electronic Resource
English
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