Publication

Numerical computation of manipulator singularities

Conference Article

Conference

IEEE International Conference on Robotics and Automation (ICRA)

Edition

2012

Pages

1351-1358

Doc link

http://dx.doi.org/10.1109/ICRA.2012.6225083

File

Download the digital copy of the doc pdf document

Abstract

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.

Categories

robots.

Author keywords

singularity set computation, non-redundant manipulator, linear relaxation, branch-and-prune method

Scientific reference

O. Bohigas, D. Zlatanov, L. Ros, M. Manubens and J.M. Porta. Numerical computation of manipulator singularities, 2012 IEEE International Conference on Robotics and Automation, 2012, St. Paul, Minnesota, USA, pp. 1351-1358, IEEE.