ICRA 2011 Paper Abstract


Paper WeP202.4

Donelan, Peter (Victoria University of Wellington), Mueller, Andreas (University Duisburg-Essen)

General Formulation of the Singularity Locus for a 3-Dof Regional Manipulator

Scheduled for presentation during the Regular Sessions "Kinematics of Serial and Parallel Robots" (WeP202), Wednesday, May 11, 2011, 16:10−16:25, Room 3C

2011 IEEE International Conference on Robotics and Automation, May 9-13, 2011, Shanghai International Conference Center, Shanghai, China

This information is tentative and subject to change. Compiled on July 14, 2020

Keywords Kinematics, Motion and Path Planning


The analysis of singularities is a central aspect in the design of robotic manipulators. Such analyses are usually based on the use of geometric parameters like DH parameters. However, the manipulator kinematics is naturally described using the concept of screws, or likewise Lie groups and algebras, that give rise to general and coordinate-invariant singularity conditions on the manipulator geometry. In this setting no restrictions are imposed onto the type of joints, as it is the case when using DH parameters. In this paper a single closed-form equation is presented that gives a complete description of the singularity locus of an arbitrary regional manipulator in terms of two joint variables and all design parameters, expressed by joint screw coordinates, together with the coordinates for the wrist centre. Some examples are reported, and it is shown that the expression can be used to analyse bifurcations in the singularity locus. Because of the simple form of the presented condition it should be useful for the practical design as well as for a deeper understanding of singularities.



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