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Título: | Numerical computation of manipulator singularities |
Autor: | Bohigas, Oriol CSIC; Zlatanov, Dimiter; Ros, Lluís CSIC ORCID ; Manubens, Montserrat CSIC; Porta, Josep M. CSIC ORCID | Fecha de publicación: | 2012 | Editor: | Institute of Electrical and Electronics Engineers | Citación: | IEEE International Conference on Robotics and Automation: 1351-1358 (2012) | Resumen: | This paper provides a method to compute all types of singularities of non-redundant manipulators with non-helical lower pairs and designated instantaneous input and output speeds. A system of equations describing each singularity type is given. Using a numerical method based on linear relaxations, the configurations in each type are computed independently. The method is general and complete: it can be applied to manipulators with arbitrary geometry; and will isolate singularities with the desired accuracy. As an example, the entire singularity set and its complete classification are computed for a two-degree-of-freedom mechanism. The complex partition of the configuration space by various singularities is illustrated by three-dimensional projections. | Descripción: | Trabajo presentado al ICRA celebrado en Minnesota del 14 al 18 de mayo de 2012. | Versión del editor: | http://dx.doi.org/10.1109/ICRA.2012.6225083 | URI: | http://hdl.handle.net/10261/96572 | DOI: | 10.1109/ICRA.2012.6225083 | Identificadores: | doi: 10.1109/ICRA.2012.6225083 isbn: 978-1-4673-1403-9 |
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