YuMi redundancy-parameterization paper validates arm-angle kinematics
Evidence notes
- The paper defines and validates the Shoulder-Elbow-Wrist angle used by the 7-DOF ABB YuMi arm.
- It supplies the SEW-angle Jacobian, singularity conditions, and IK-Geo examples for finding all inverse-kinematics solutions.
- The result is useful context for YuMi path planning beyond RobotStudio-only workflows.
Company context
ABB is a publicly listed electrification and automation group. It currently owns ABB Robotics, whose signed sale to SoftBank remains pending, while Machine Automation continues inside ABB's Automation business.