ICRA 2012 Paper Abstract


Paper TuC210.5

Bohigas, Oriol (Consejo Superior de Investigaciones Científicas), Zlatanov, Dimiter (University of Genoa), Ros, Lluis (Consejo Superior de Investigaciones Científicas (CSIC)), Manubens, Montserrat (Consejo Superior de Investigaciones Científicas), Porta, Josep M (CSIC-UPC)

Numerical Computation of Manipulator Singularities

Scheduled for presentation during the Interactive Session "Interactive Session TuC-2" (TuC210), Tuesday, May 15, 2012, 15:00−15:30, Ballroom D

2012 IEEE International Conference on Robotics and Automation, May 14-18, 2012, RiverCentre, Saint Paul, Minnesota, USA

This information is tentative and subject to change. Compiled on August 19, 2018

Keywords Kinematics


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.



Technical Content © IEEE Robotics & Automation Society

This site is protected by copyright and trademark laws under US and International law.
All rights reserved. © 2002-2018 PaperCept, Inc.
Page generated 2018-08-19  23:31:29 PST  Terms of use