Robots with seven degrees of freedom: Is the additional DoF worth it?

I. Kuhlemann; P. Jauer; F. Ernst; A. Schweikard

doi:10.1109/ICCAR.2016.7486703

Robots with seven degrees of freedom: Is the additional DoF worth it?

I. Kuhlemann, P. Jauer, F. Ernst, A. Schweikard

Institute of Robotics and Cognitive Systems

Abstract

This paper presents a detailed dexterity analysis of three different kinematics, comparing six-DoF with seven-DoF robots. The KUKA LBR iiwa 7 lightweight robot represents the seven-DoF kinematics, while the KUKA KR 10 is chosen as a common six-DoF robot with comparable workspace dimensions. Furthermore, the LBR iiwa is simulated as a six-jointed robot to allow for a direct comparison of seven- and six-DoF kinematics. Due to this simulation it is possible to isolate the effects of the additional 7th DoF for the first time. The results show that the average dexterity is increased by 16.8% due to the additional 7th joint. Compared to the highest average dexterity of the seven-DoF manipulator, the six-DoF KR 10 outperforms this value by 7.6%.

Original language	English
Title of host publication	2016 2nd International Conference on Control, Automation and Robotics (ICCAR)
Number of pages	5
Publisher	IEEE
Publication date	01.04.2016
Pages	80-84
ISBN (Print)	978-146739859-6
DOIs	https://doi.org/10.1109/ICCAR.2016.7486703
Publication status	Published - 01.04.2016
Event	2nd International Conference on Control, Automation and Robotics - Hong Kong, Hong Kong Duration: 28.04.2016 → 30.04.2016

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10.1109/ICCAR.2016.7486703

Cite this

@inproceedings{6c619a532a104d5bb31da0f3fd7401cb,

title = "Robots with seven degrees of freedom: Is the additional DoF worth it?",

abstract = "This paper presents a detailed dexterity analysis of three different kinematics, comparing six-DoF with seven-DoF robots. The KUKA LBR iiwa 7 lightweight robot represents the seven-DoF kinematics, while the KUKA KR 10 is chosen as a common six-DoF robot with comparable workspace dimensions. Furthermore, the LBR iiwa is simulated as a six-jointed robot to allow for a direct comparison of seven- and six-DoF kinematics. Due to this simulation it is possible to isolate the effects of the additional 7th DoF for the first time. The results show that the average dexterity is increased by 16.8% due to the additional 7th joint. Compared to the highest average dexterity of the seven-DoF manipulator, the six-DoF KR 10 outperforms this value by 7.6%.",

author = "I. Kuhlemann and P. Jauer and F. Ernst and A. Schweikard",

year = "2016",

month = apr,

day = "1",

doi = "10.1109/ICCAR.2016.7486703",

language = "English",

isbn = "978-146739859-6",

series = "Proceedings of IEEE",

publisher = "IEEE",

pages = "80--84",

booktitle = "2016 2nd International Conference on Control, Automation and Robotics (ICCAR)",

note = "2nd International Conference on Control, Automation and Robotics, ICCAR 2016 ; Conference date: 28-04-2016 Through 30-04-2016",