Title :
Singularity analysis of 6-DOF manipulators with the analytical representation of the determinant
Author :
Kim, Doik ; Chung, Wankyun ; Youm, Youngil
Author_Institution :
Dept. of Mech. Eng., Pohang Inst. of Sci. & Technol., South Korea
Abstract :
The determinant of a Jacobian is used as a tool for describing the performance of manipulators. Especially for finding a singularity condition of manipulators, the single algebraic equation, i.e., the determinant of the Jacobian, is one of the simple and exact tools to analyze. For parallel manipulators, singularity analysis is one of the most important step in the design to improve their rigidity and performance. This paper provides a unified method for the expression of the determinant of the Jacobian matrix for 6-DOF manipulators including parallel and serial manipulators
Keywords :
Jacobian matrices; control system analysis; manipulator kinematics; singular value decomposition; Jacobian matrix; Stewart platform; determinant; kinematics; parallel manipulators; serial manipulators; single algebraic equation; singularity analysis; Degradation; Equations; Fasteners; Gaussian processes; Jacobian matrices; Kinematics; Manipulators; Mechanical engineering; Performance analysis; Robots;
Conference_Titel :
Robotics and Automation, 1999. Proceedings. 1999 IEEE International Conference on
Conference_Location :
Detroit, MI
Print_ISBN :
0-7803-5180-0
DOI :
10.1109/ROBOT.1999.772402
