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
Subtitle of host publication	Robotics at home Proceedings
Publisher	EPSRC
Pages	37-38
Number of pages	2
DOIs	https://doi.org/10.31256/Ut2Qg2T
Publication status	Published - 2 Jun 2021

Publication series

Name
ISSN (Electronic)	2516-502X

Keywords

Dexterous Manipulators
Path Planning
Workspace Analysis
Constrained Motion

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10.31256/Ut2Qg2TLicence: Unspecified

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",

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language = "English",

publisher = "EPSRC",

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

PB - EPSRC

ER -

End-Effector Mobility for Manipulators in Confined Spaces

Abstract

Publication series

Keywords

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Teleoperation in extreme environments (space and nuclear robotics)

Cite this

End-Effector Mobility for Manipulators in Confined Spaces

Abstract

Publication series

Keywords

Access to Document

Handle.net

Other files and links

Fingerprint

Projects

Teleoperation in extreme environments (space and nuclear robotics)

Cite this