DocumentCode
1864054
Title
Higher order singularities of regional manipulators
Author
Smith, David R. ; Lipkin, Harvey
Author_Institution
Dept. of Mech. Eng., Massachusetts Univ., Lowell, MA
fYear
1993
fDate
2-6 May 1993
Firstpage
194
Abstract
The conics method is applied to an analysis of the workspace of a 3R regional manipulator. Specifically, the boundary curve of the workspace is investigated. For the 3R manipulator, it is demonstrated that higher-order root multiplicities of the inverse kinematics correspond to singular points of the workspace region boundary curve. An example of such a point is given
Keywords
inverse problems; kinematics; manipulators; polynomials; 3R regional manipulator; boundary curve; conics method; higher order singularities; higher-order root multiplicities; industrial manipulator; inverse kinematics; workspace; Character generation; Equations; Manipulators; Mechanical engineering; Polynomials; Robot kinematics; Service robots; Symmetric matrices; Topology; Wrist;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 1993. Proceedings., 1993 IEEE International Conference on
Conference_Location
Atlanta, GA
Print_ISBN
0-8186-3450-2
Type
conf
DOI
10.1109/ROBOT.1993.291982
Filename
291982
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