Workspace Analysis Based on a Serial-Parallel Hybrid Robot: Representing Robot Capabilities

Xinze Tian; Baoshi Cao; Le Qi; Xueai Li; Yang Liu; Kui Sun; Fenglei Ni; Zongwu Xie

doi:10.1007/978-981-96-0795-2_10

Workspace Analysis Based on a Serial-Parallel Hybrid Robot: Representing Robot Capabilities

Xinze Tian
, Baoshi Cao^*
, Le Qi
, Xueai Li
, Yang Liu
, Kui Sun
, Fenglei Ni
, Zongwu Xie

^*Corresponding author for this work

School of Mechatronics Engineering

Harbin Institute of Technology

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

Abstract

Calculating the dexterity value of a certain point is the foundation for demonstrating the dexterity of the robot. Furthermore, the criteria for calculating the dexterity value of the given point determines the authenticity of the capability map. Traditional methods that use Jacobian matrix to find inverse kinematic to determine whether a pose is reachable exhibit uncertainty around singularities. Thus, this article proposes an approach for calculating the dexterity of points based on a serial-parallel hybrid 7-degree-of-freedom robot. By improving the inverse kinematics solving process and selecting the optimal solutions, this method addresses the issues of low efficiency and inaccuracy in calculations near singular points. Additionally, this method does not require consideration of the configuration of the robot’s end-effector axis, thus offering broader applicability. By analyzing the characteristics of the capability map and explaining the reasons behind their formation, verify the practicality and potential applications of this criteria.

Original language	English
Title of host publication	Intelligent Robotics and Applications - 17th International Conference, ICIRA 2024, Proceedings
Editors	Xuguang Lan, Xuesong Mei, Caigui Jiang, Fei Zhao, Zhiqiang Tian
Publisher	Springer Science and Business Media Deutschland GmbH
Pages	123-137
Number of pages	15
ISBN (Print)	9789819607945
DOIs	https://doi.org/10.1007/978-981-96-0795-2_10
State	Published - 2025
Event	17th International Conference on Intelligent Robotics and Applications, ICIRA 2024 - Xi'an, China Duration: 31 Jul 2024 → 2 Aug 2024

Publication series

Name	Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Volume	15203 LNAI
ISSN (Print)	0302-9743
ISSN (Electronic)	1611-3349

Conference

Conference	17th International Conference on Intelligent Robotics and Applications, ICIRA 2024
Country/Territory	China
City	Xi'an
Period	31/07/24 → 2/08/24

Keywords

Capability Map
Hybrid Serial-Parallel Robot
Inverse Kinematics
Redundant Robot
Workspace Characteristics

Access to Document

10.1007/978-981-96-0795-2_10

Cite this

Tian, X., Cao, B., Qi, L., Li, X., Liu, Y., Sun, K., Ni, F., & Xie, Z. (2025). Workspace Analysis Based on a Serial-Parallel Hybrid Robot: Representing Robot Capabilities. In X. Lan, X. Mei, C. Jiang, F. Zhao, & Z. Tian (Eds.), Intelligent Robotics and Applications - 17th International Conference, ICIRA 2024, Proceedings (pp. 123-137). (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics) ; Vol. 15203 LNAI). Springer Science and Business Media Deutschland GmbH. https://doi.org/10.1007/978-981-96-0795-2_10

Tian, Xinze ; Cao, Baoshi ; Qi, Le et al. / Workspace Analysis Based on a Serial-Parallel Hybrid Robot : Representing Robot Capabilities. Intelligent Robotics and Applications - 17th International Conference, ICIRA 2024, Proceedings. editor / Xuguang Lan ; Xuesong Mei ; Caigui Jiang ; Fei Zhao ; Zhiqiang Tian. Springer Science and Business Media Deutschland GmbH, 2025. pp. 123-137 (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics) ).

@inproceedings{7c930c4942444fe8951bf56ef4425023,

title = "Workspace Analysis Based on a Serial-Parallel Hybrid Robot: Representing Robot Capabilities",

abstract = "Calculating the dexterity value of a certain point is the foundation for demonstrating the dexterity of the robot. Furthermore, the criteria for calculating the dexterity value of the given point determines the authenticity of the capability map. Traditional methods that use Jacobian matrix to find inverse kinematic to determine whether a pose is reachable exhibit uncertainty around singularities. Thus, this article proposes an approach for calculating the dexterity of points based on a serial-parallel hybrid 7-degree-of-freedom robot. By improving the inverse kinematics solving process and selecting the optimal solutions, this method addresses the issues of low efficiency and inaccuracy in calculations near singular points. Additionally, this method does not require consideration of the configuration of the robot{\textquoteright}s end-effector axis, thus offering broader applicability. By analyzing the characteristics of the capability map and explaining the reasons behind their formation, verify the practicality and potential applications of this criteria.",

keywords = "Capability Map, Hybrid Serial-Parallel Robot, Inverse Kinematics, Redundant Robot, Workspace Characteristics",

author = "Xinze Tian and Baoshi Cao and Le Qi and Xueai Li and Yang Liu and Kui Sun and Fenglei Ni and Zongwu Xie",

note = "Publisher Copyright: {\textcopyright} The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2025.; 17th International Conference on Intelligent Robotics and Applications, ICIRA 2024 ; Conference date: 31-07-2024 Through 02-08-2024",

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doi = "10.1007/978-981-96-0795-2\_10",

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publisher = "Springer Science and Business Media Deutschland GmbH",

pages = "123--137",

editor = "Xuguang Lan and Xuesong Mei and Caigui Jiang and Fei Zhao and Zhiqiang Tian",

booktitle = "Intelligent Robotics and Applications - 17th International Conference, ICIRA 2024, Proceedings",

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Tian, X, Cao, B, Qi, L, Li, X, Liu, Y, Sun, K , Ni, F & Xie, Z 2025, Workspace Analysis Based on a Serial-Parallel Hybrid Robot: Representing Robot Capabilities. in X Lan, X Mei, C Jiang, F Zhao & Z Tian (eds), Intelligent Robotics and Applications - 17th International Conference, ICIRA 2024, Proceedings. Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics) , vol. 15203 LNAI, Springer Science and Business Media Deutschland GmbH, pp. 123-137, 17th International Conference on Intelligent Robotics and Applications, ICIRA 2024, Xi'an, China, 31/07/24. https://doi.org/10.1007/978-981-96-0795-2_10

Workspace Analysis Based on a Serial-Parallel Hybrid Robot: Representing Robot Capabilities. / Tian, Xinze; Cao, Baoshi; Qi, Le et al.
Intelligent Robotics and Applications - 17th International Conference, ICIRA 2024, Proceedings. ed. / Xuguang Lan; Xuesong Mei; Caigui Jiang; Fei Zhao; Zhiqiang Tian. Springer Science and Business Media Deutschland GmbH, 2025. p. 123-137 (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics) ; Vol. 15203 LNAI).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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T1 - Workspace Analysis Based on a Serial-Parallel Hybrid Robot

T2 - 17th International Conference on Intelligent Robotics and Applications, ICIRA 2024

AU - Tian, Xinze

AU - Cao, Baoshi

AU - Qi, Le

AU - Li, Xueai

AU - Liu, Yang

AU - Sun, Kui

AU - Ni, Fenglei

AU - Xie, Zongwu

N1 - Publisher Copyright: © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2025.

PY - 2025

Y1 - 2025

N2 - Calculating the dexterity value of a certain point is the foundation for demonstrating the dexterity of the robot. Furthermore, the criteria for calculating the dexterity value of the given point determines the authenticity of the capability map. Traditional methods that use Jacobian matrix to find inverse kinematic to determine whether a pose is reachable exhibit uncertainty around singularities. Thus, this article proposes an approach for calculating the dexterity of points based on a serial-parallel hybrid 7-degree-of-freedom robot. By improving the inverse kinematics solving process and selecting the optimal solutions, this method addresses the issues of low efficiency and inaccuracy in calculations near singular points. Additionally, this method does not require consideration of the configuration of the robot’s end-effector axis, thus offering broader applicability. By analyzing the characteristics of the capability map and explaining the reasons behind their formation, verify the practicality and potential applications of this criteria.

AB - Calculating the dexterity value of a certain point is the foundation for demonstrating the dexterity of the robot. Furthermore, the criteria for calculating the dexterity value of the given point determines the authenticity of the capability map. Traditional methods that use Jacobian matrix to find inverse kinematic to determine whether a pose is reachable exhibit uncertainty around singularities. Thus, this article proposes an approach for calculating the dexterity of points based on a serial-parallel hybrid 7-degree-of-freedom robot. By improving the inverse kinematics solving process and selecting the optimal solutions, this method addresses the issues of low efficiency and inaccuracy in calculations near singular points. Additionally, this method does not require consideration of the configuration of the robot’s end-effector axis, thus offering broader applicability. By analyzing the characteristics of the capability map and explaining the reasons behind their formation, verify the practicality and potential applications of this criteria.

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KW - Inverse Kinematics

KW - Redundant Robot

KW - Workspace Characteristics

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T3 - Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)

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BT - Intelligent Robotics and Applications - 17th International Conference, ICIRA 2024, Proceedings

A2 - Lan, Xuguang

A2 - Mei, Xuesong

A2 - Jiang, Caigui

A2 - Zhao, Fei

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PB - Springer Science and Business Media Deutschland GmbH

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ER -

Tian X, Cao B, Qi L, Li X, Liu Y, Sun K et al. Workspace Analysis Based on a Serial-Parallel Hybrid Robot: Representing Robot Capabilities. In Lan X, Mei X, Jiang C, Zhao F, Tian Z, editors, Intelligent Robotics and Applications - 17th International Conference, ICIRA 2024, Proceedings. Springer Science and Business Media Deutschland GmbH. 2025. p. 123-137. (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics) ). doi: 10.1007/978-981-96-0795-2_10

Workspace Analysis Based on a Serial-Parallel Hybrid Robot: Representing Robot Capabilities

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