关键词: 冗余自由度机器人, 位置关节空间流形, 姿态关节空间流形, 自运动流形

Abstract:

The position joint space manifold and posture joint space manifold of a redundant robotic manipulator were defined,whose position and posture were decoupled,the redundant robotic manipulator's self-motion manifold can be obtained by pairing these manifolds.A 7-DOF automated fiber placement robotic
manipulator was analyzed using the defined self-motion manifolds,
and  its self-motion manifolds were obtained.The results show that
the automated fiber placement robotic manipulator's
self-motion manifold is correct using this method by simulation,
and this method is also applicable in analyzing the self-motion manifold of
the redundant robotic manipulator which the position and posture are decoupled.

Key words: redundant robotic manipulator, position joint space manifold, posture joint space manifold, self-motion manifold