End-Effector Mobility for Manipulators in Confined Spaces

Kat L Styles; Thomas Bligh Scott; Antonia Tzemanaki

doi:10.31256/Ut2Qg2T

End-Effector Mobility for Manipulators in Confined Spaces

Kat L Styles^*, Thomas Bligh Scott , Antonia Tzemanaki

^*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceeding › Conference Contribution (Conference Proceeding)

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Abstract

A robotic manipulator operating within a confined space ideally positions its end-effector with minimal spatial displacement of each link. Achieving certain poses can require a large overall displacement of the hardware. This work investigates the effect of an additional degree of freedom (DOF) at the end-effector of a KUKA LBR iiwa14 arm by assessing the space occupied by the arm during 6 manipulation tasks and the dexterity of the arm within its workspace.

Original language	English
Title of host publication	UKRAS21 Conference: “Robotics at home” Proceedings, 2nd June 2021
Pages	37-38
Number of pages	2
DOIs	https://doi.org/10.31256/Ut2Qg2T
Publication status	Published - 2 Jun 2021

Keywords

Dexterous Manipulators
Path Planning
Workspace Analysis
Constrained Motion

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10.31256/Ut2Qg2T

Full-text PDF (accepted author manuscript)Accepted author manuscript, 403 KB

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title = "End-Effector Mobility for Manipulators in Confined Spaces",

abstract = "A robotic manipulator operating within a confined space ideally positions its end-effector with minimal spatial displacement of each link. Achieving certain poses can require a large overall displacement of the hardware. This work investigates the effect of an additional degree of freedom (DOF) at the end-effector of a KUKA LBR iiwa14 arm by assessing the space occupied by the arm during 6 manipulation tasks and the dexterity of the arm within its workspace.",

keywords = "Dexterous Manipulators, Path Planning, Workspace Analysis, Constrained Motion",

author = "Styles, {Kat L} and Scott, {Thomas Bligh} and Antonia Tzemanaki",

year = "2021",

month = jun,

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language = "English",

pages = "37--38",

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AU - Styles, Kat L

AU - Scott , Thomas Bligh

AU - Tzemanaki, Antonia

PY - 2021/6/2

Y1 - 2021/6/2

N2 - A robotic manipulator operating within a confined space ideally positions its end-effector with minimal spatial displacement of each link. Achieving certain poses can require a large overall displacement of the hardware. This work investigates the effect of an additional degree of freedom (DOF) at the end-effector of a KUKA LBR iiwa14 arm by assessing the space occupied by the arm during 6 manipulation tasks and the dexterity of the arm within its workspace.

AB - A robotic manipulator operating within a confined space ideally positions its end-effector with minimal spatial displacement of each link. Achieving certain poses can require a large overall displacement of the hardware. This work investigates the effect of an additional degree of freedom (DOF) at the end-effector of a KUKA LBR iiwa14 arm by assessing the space occupied by the arm during 6 manipulation tasks and the dexterity of the arm within its workspace.

KW - Dexterous Manipulators

KW - Path Planning

KW - Workspace Analysis

KW - Constrained Motion

UR - https://www.ukras.org/wp-content/uploads/2021/07/UK-RAS21-Conference-Proceedings.pdf

U2 - 10.31256/Ut2Qg2T

DO - 10.31256/Ut2Qg2T

M3 - Conference Contribution (Conference Proceeding)

SP - 37

EP - 38

BT - UKRAS21 Conference: “Robotics at home” Proceedings, 2nd June 2021

ER -

End-Effector Mobility for Manipulators in Confined Spaces

Abstract

Keywords

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Teleoperation in extreme environments (space and nuclear robotics)

Cite this

End-Effector Mobility for Manipulators in Confined Spaces

Abstract

Keywords

Access to Document

Handle.net

Other files and links

Fingerprint

Projects

Teleoperation in extreme environments (space and nuclear robotics)

Cite this