DocumentCode
791498
Title
A normal form of singular kinematics of robot manipulators with smallest degeneracy
Author
Tchon, Krzysztof
Author_Institution
Inst. of Eng. Cybern., Tech. Univ. Wroclaw, Poland
Volume
11
Issue
3
fYear
1995
fDate
6/1/1995 12:00:00 AM
Firstpage
401
Lastpage
404
Abstract
We study singular kinematics of robot manipulators around internal configurations at which the manipulator Jacobian drops rank by 1. Conditions are presented under which such kinematics can be transformed to a simple quadratic normal form. The conditions are proved using standard methods of singularity theory, and illustrated with an example
Keywords
differential geometry; manipulator kinematics; topology; Jacobian; degeneracy; differential geometry; internal configurations; manipulators; robot; singular kinematics; singularity theory; Computational geometry; Jacobian matrices; Machinery; Manifolds; Manipulators; Orbital robotics; Robot kinematics; Terminology; Topology; Transmission line matrix methods;
fLanguage
English
Journal_Title
Robotics and Automation, IEEE Transactions on
Publisher
ieee
ISSN
1042-296X
Type
jour
DOI
10.1109/70.388781
Filename
388781
Link To Document