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
fDate :
6/1/1995 12:00:00 AM
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;
Journal_Title :
Robotics and Automation, IEEE Transactions on
