A practical procedure to analyze singular configurations in closed kinematic chains

The authors present a general method for the automated singularity analysis of any mechanism at a given configuration. The procedure uses a base of the motion space. This is obtained from a velocity equation characterized by a geometric matrix. This special form of Jacobian matrix has some advantage...

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Bibliographic Details
Published in:IEEE transactions on robotics Vol. 20; no. 6; pp. 929 - 940
Main Authors: Altuzarra, O., Pinto, C., Aviles, R., Hernandez, A.
Format: Journal Article
Language:English
Published: New York, NY IEEE 01.12.2004
Institute of Electrical and Electronics Engineers
Subjects:
Actuators
Applied sciences
Artificial intelligence
Automata. Logic controller
Computer programs
Computer science; control theory; systems
Concurrent computing
Constraint singularity
Control theory. Systems
Couplings
Degrees of freedom
Equations
Exact sciences and technology
geometric matrix
Government
Jacobian matrices
Jacobian matrix
Kinematics
Mathematical analysis
Mechanical engineering
Modelling and identification
parallel manipulators
Parallel robots
Pattern recognition. Digital image processing. Computational geometry
Process control. Computer integrated manufacturing
Redundant
singular configurations
Singularities
Uncertainty
velocity equation
Geometrical structure
Singularity
Uncertainty
Configuration
Velocity space
Classification
Geometrical configuration
Controllability
Detection
Geometrical theory
ISSN:1552-3098, 1941-0468
Online Access:Get full text
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Description
Summary:The authors present a general method for the automated singularity analysis of any mechanism at a given configuration. The procedure uses a base of the motion space. This is obtained from a velocity equation characterized by a geometric matrix. This special form of Jacobian matrix has some advantages for automatic implementation. This approach provides the degree of freedom associated with the singularity, uncontrolled motion, and kinematic dependencies. It also facilitates the choice of actuators and redundant devices. The method has been implemented in a computer program for kinematic analysis.
Bibliography:ObjectType-Article-2
SourceType-Scholarly Journals-1
ObjectType-Feature-1
content type line 23
ISSN:1552-3098
1941-0468
DOI:10.1109/TRO.2004.832798