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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