End-Effector Mobility for Manipulators in Confined Spaces
Title: End-Effector Mobility for Manipulators in Confined Spaces
Authors: Kathryn Wood (Bristol Robotics Laboratory University of Bristol); Thomas B. Scott (Interface Analysis Centre University of Bristol); Antonia Tzemanaki (Bristol Robotics Laboratory University of Bristol);
Year: 2021
Citation: Wood, K., Scott, T. B., Tzemanaki, A., (2021). End-Effector Mobility for Manipulators in Confined Spaces. UKRAS21 Conference: “Robotics at home” Proceedings, 37-38. doi: 10.31256/Ut2Qg2T
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 inves-
tigates 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.