Title :
Singularity analysis of mechanisms and robots via a velocity-equation model of the instantaneous kinematics
Author :
Zlatanov, D. ; Fenton, R.G. ; Benhabib, B.
Author_Institution :
Dept. of Mech. Eng., Toronto Univ., Ont., Canada
Abstract :
This paper presents a new generalized approach to the singularity analysis of a general mechanism (arbitrary kinematic chain), considered as a non-redundant input-output device with equal number of inputs and outputs. The instantaneous kinematics of a mechanism is described by means of a velocity equation, explicitly including not only the input and output velocities but also the passive-joint velocities. A precise definition of singularity of a general mechanism is provided. On the basis of the six types of singular configurations introduced in the paper singularity classifications are proposed
Keywords :
control system analysis; kinematics; robots; velocity control; input velocity; instantaneous kinematics; kinematic chain; nonredundant input-output device; output velocity; passive-joint velocity; robots; singularity analysis; singularity classifications; velocity equation; velocity-equation model; Computer integrated manufacturing; Educational institutions; Equations; Jacobian matrices; Kinematics; Laboratories; Mechanical engineering; Mechanical systems; Robots;
Conference_Titel :
Robotics and Automation, 1994. Proceedings., 1994 IEEE International Conference on
Conference_Location :
San Diego, CA
Print_ISBN :
0-8186-5330-2
DOI :
10.1109/ROBOT.1994.351325
