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
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, Saint Paul, MN, USA, pp. 1351-1358, IEEE.
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