This paper proposes an analytical methodology of inverse kinematic computation for 7 DOF redundant manipulators with joint limits. Specifically, the paper focuses on how to obtain all feasible inverse kinematic solutions in the global configuration space where joint movable ranges are limited. First, a closed-form inverse kinematic solution is derived based on a parameterization method. Second, how the joint limits affect the feasibility of the inverse solution is investigated to develop an analytical method for computing feasible solutions under the joint limits. Third, how to apply the method to the redundancy resolution problem is discussed and analytical methods to avoid joint limits are developed in the position domain. Lastly, the validity of the methods is verified by kinematic simulations.

This paper proposes a practical redundancy resolution for 7 DOF redundant manipulators with joint limits. The primary concern of the paper is how to resolve the redundancy in the global configuration space when the movable joint angles are considerably restricted. First, a parameterized inverse kinematic solution for a 7 DOF manipulator model is derived. Second, how the joint limits affect the inverse kinematic solution is examined to explicitly identify the feasible solution under the joint limits. Then, an analytical redundancy resolution method for avoiding the joint limits is developed. Finally, kinematic simulations show that the method is effective for avoiding the joint limits as well as expanding the reachable region of the manipulator's tip.

This paper proposes a systematic method of designing a robot admittance for dynamic assembly of generic polyhedral parts in the presence of positioning uncertainty between the parts. In particular, this paper discusses how to design an admittance that is suitable for high-speed assembly, where the effect of the part's inertia is dominant. First, an approach to designing the admittance is presented. Then, the detailed procedure of designing the admittance is described. Finally, the design method is applied to an assembly task to illustrate how it works

This paper describes a new method of designing admittance for robotic assembly involving polyhedral parts with geometrical modeling errors as well as finite positioning errors and friction between the parts. First, an approach to de signing admittance is illustrated. Then, the detailed procedure for designing admittance robust to the errors is presented. Finally, the design method is applied to a mating task to show the effectiveness of the proposed method.

This paper presents a systematic method of designing robot admittance for assembling generic polyhedral parts despite various uncertainties including the uncertainty in the grasping pose of the workpiece relative to the robot. First, the basic concept of how to design admittance is described. Then, the method of designing admittance for dealing with the uncertainties is provided. Lastly, the application of the admittance design method to an assembly task illustrates the effectiveness of the proposed method.

This paper describes a new method for designing admittance for spatial parts assembly with finite positioning errors and friction between the parts. First, how the admittance is described and how it should be designed or discussed to introduce the concept of the design approach. Then, the details of the admittance design method are presented. Finally, the design method is applied to a mating task to show the effectiveness of the proposed method.

In this paper, we propose a new method for spatial parts mating with friction using structured compliance with a compliance center. The concept of the structured compliance and a parts mating method based on the concept are introduced. In the method, the position of the compliance center is one of crucial factors for successfully accomplishing the parts mating. How to determine an appropriate position of the compliance center for reliably achieving the parts mating under effects of friction is discussed and an example is given to illustrate the applicability of the proposed method.

In this paper, we propose a new method for planar assembly of two parts assuming positioning errors of parts as well as frictions between the parts. The parts-mating is realized by specifying a structured compliance of a part with respect to the other part assuming positioning errors as well as frictions between the parts. The structured compliance is the compliance defined with respect to a generalized coordinate system, which is selected so as to accomplish the parts-mating assuming positioning error between the parts. How to specify the generalized coordinate system is discussed in this paper. Several examples will illustrate the effectiveness of the proposed method.