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Numerical computation of manipulator singularities

AuthorsBohigas, Oriol ; Zlatanov, Dimiter; Ros, Lluís ; Manubens, Montserrat ; Porta, Josep M.
Issue Date2012
PublisherInstitute of Electrical and Electronics Engineers
CitationIEEE International Conference on Robotics and Automation: 1351-1358 (2012)
AbstractThis 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.
DescriptionTrabajo presentado al ICRA celebrado en Minnesota del 14 al 18 de mayo de 2012.
Publisher version (URL)http://dx.doi.org/10.1109/ICRA.2012.6225083
Identifiersdoi: 10.1109/ICRA.2012.6225083
isbn: 978-1-4673-1403-9
Appears in Collections:(IRII) Libros y partes de libros
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