Event
YuMi redundancy-parameterization paper validates arm-angle kinematics
Key points
- 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 global leader in industrial automation and robotics, with one of the largest installed bases of industrial robots worldwide. The company provides end-to-end automation solutions, combining robotic hardware, control systems, and factory integration. Its robotics division is a core enabler of manufacturing automation across automotive, electronics, and logistics sectors.
Context
- Company
- ABB
- Segment
- Industrial Automation
- Event type
- Research Publication
- Geography
- Zurich · Switzerland