Title :
Singularity analysis of closed-loop kinematic chains
Author :
Gosselin, Clement ; Angeles, Jorge
Author_Institution :
McGill Univ., Montreal, Que., Canada
fDate :
6/1/1990 12:00:00 AM
Abstract :
The different kinds of singularities encountered in closed-loop kinematics chains are analyzed. A general classification of these singularities in three main groups, which is based on the properties of the Jacobian matrices of the chain, is described. The identification of the singular configurations is particularly relevant for hard automation modules or robotic devices based on closed kinematic chains, such as linkages and parallel manipulators. Examples are given to illustrate the application of the method to these mechanical systems
Keywords :
closed loop systems; kinematics; matrix algebra; robots; Jacobian matrices; automation modules; closed-loop kinematic chains; linkages; mechanical systems; parallel manipulators; robotic; singularities; Councils; Couplings; Helium; Jacobian matrices; Kinematics; Machine intelligence; Manipulators; Mechanical systems; Parallel robots; Robotics and automation;
Journal_Title :
Robotics and Automation, IEEE Transactions on
