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 |
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