Generic singularities of robot manipulators
- 7 January 2003
- conference paper
- Published by Institute of Electrical and Electronics Engineers (IEEE)
- p. 738-744 vol.2
- https://doi.org/10.1109/robot.1989.100072
Abstract
The singularities of the differential kinematic map, i.e. of the manipulator Jacobian, are considered. The authors first examine the notion of a generic kinematic map, whose singularities form smooth manifolds of prescribed dimension in the joint space of the manipulator. For three-joint robots, an equivalent condition for genericity using determinants is derived. The condition lends itself to symbolic computation and is sufficient for the study of decoupled manipulators, i.e. manipulators that an be separated into a three-joint translating part and a three-joint orienting part. The results are illustrated by analyzing the singularities of two classes of three-joint positioning robots.Keywords
This publication has 5 references indexed in Scilit:
- Generic Singularities of Robot ManipulatorsPublished by Defense Technical Information Center (DTIC) ,1988
- A study of multiple manipulator inverse kinematic solutions with applications to trajectory planning and workspace determinationPublished by Institute of Electrical and Electronics Engineers (IEEE) ,1986
- Stable Mappings and Their SingularitiesPublished by Springer Nature ,1973
- The Mathematics of Coordinated Control of Prosthetic Arms and ManipulatorsJournal of Dynamic Systems, Measurement, and Control, 1972
- A Kinematic Notation for Lower-Pair Mechanisms Based on MatricesJournal of Applied Mechanics, 1955