Classification of singular configurations for redundant manipulators

descriptionPublicationkeyboard_double_arrow_right Article , Conference object 04 Dec 2002Publisher:IEEE Comput. Soc. PressJournal:Proceedings., IEEE International Conference on Robotics and Automation

Authors: Nazareth Bedrossian;

doi: 10.1109/robot.1990.126089

Classification of singular configurations for redundant manipulators

- Summary
- Metrics

Abstract

A general methodology is presented for the singularity analysis of kinematically redundant manipulators. The singular configurations are classified based on the possibility of reconfiguration into a nonsingular posture using self-motion. A procedure is presented to test for the possibility of self-motion at a singular configuration. Necessary and sufficient conditions for admissible tangent vectors at the singular configuration are presented, as well as a method to construct such vectors. Sufficient conditions are derived for instances when the singular system can be reconfigured into a nonsingular state by displacements along the admissible null vectors. >

Related Organizations

Draper Laboratory
United States

Impact byBIP!

	selected citations These citations are derived from selected sources. This is an alternative to the "Influence" indicator, which also reflects the overall/total impact of an article in the research community at large, based on the underlying citation network (diachronically).	41
	popularity This indicator reflects the "current" impact/attention (the "hype") of an article in the research community at large, based on the underlying citation network.	Top 10%
	influence This indicator reflects the overall/total impact of an article in the research community at large, based on the underlying citation network (diachronically).	Top 1%
	impulse This indicator reflects the initial momentum of an article directly after its publication, based on the underlying citation network.	Top 10%