Publication
Multi-body singularity equations
Technical Report (2010)
Authors
Projects associated
Abstract
On how to obtain the equations for computation with CUIK.
This technical report explains how to obtain a system of equations that encodes the singularities
of a multi-body system with respect to some of its configuration variables. The system is
obtained in a way that makes it appropriate for the CUIK software.
Categories
manipulators, robot kinematics.
Author keywords
singularities, multi-body, CUIK
Scientific reference
O. Bohigas and L. Ros. Multi-body singularity equations. Technical Report IRI-TR-10-02, Institut de Robòtica i Informàtica Industrial, CSIC-UPC, 2010.
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