Haptic devices perform an essential part in haptic applications. Light Weight Robot III is the new edition of DLR light weight robot. It’s got seven Degree of Freedom (DoF) with only 14 kg self weight. Seven torque sensors installed on its joints and one 6 DoF force-torque sensor on the end-effector make it possible for it to exactly sense the external forces. Present inverse kinematics library is design for a general model of Light Weight Robot III, that is somewhat different from the one employed as haptic device. This report is designed to adjust and optimise this inverse kinematics library for the haptic applications of Light Weight Robot III. It explains the adaptation of the inverse kinematics library to the hardware, which overcome the difficulties attributable to the different configuration of the robot utilized as haptic device. It realized the null space movement of the robot that helps the positioning of the intermediate joints due to applied force on it. Finally it offers a solution for finding and averting the singular configurations of the robot, which is significant because of unpredictable trajectory of the end-e ector. The simulation and experiment outcomes of improved kinematics library are also revealed in this dissertation.
Source: Luleå University of Technology
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