Publikationen

Type of publication:	Artikel in einem Konferenzbericht
Buchtitel:	IEEE 2016 2nd International Conference on Control, Automation and Robotics (ICCAR)
Jahr:	2016
Monat:	April
Seiten:	80-84
DOI:	10.1109/iccar.2016.7486703
Abriss:	This paper presents a detailed dexterity analysis of three different kinematics, comparing six-{DoF} with seven-{DoF} robots. The KUKA LBR iiwa 7 lightweight robot represents the seven-{DoF} kinematics, while the KUKA KR 10 is chosen as a common six-{DoF} robot with comparable workspace dimensions. Furthermore, the LBR iiwa is simulated as a six-jointed robot to allow for a direct comparison of seven- and six-{DoF} kinematics. Due to this simulation it is possible to isolate the effects of the additional 7th {DoF} for the first time. The results show that the average dexterity is increased by 16.8% due to the additional 7th joint. Compared to the highest average dexterity of the seven-{DoF} manipulator, the six-{DoF} KR 10 outperforms this value by 7.6%.
Schlagworte:	Dexterity map, Elbow, kinematics, KR 10, LBR iiwa, Manifolds, manipulators, reachability map, robot kinematics, Service robots, seven-DoF
Autoren:	Kuhlemann, Ivo Jauer, Philipp Ernst, Floris Schweikard, Achim
Anhänge

[Bib\|RIS]