Robots with seven degrees of freedom: Is the additional {DoF} worth it?

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