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Singularity avoidance in robotic manipulators: A differential form approach

✍ Scribed by Krzysztof Tchoń

Publisher: Elsevier Science
Year: 1997
Tongue: English
Weight: 651 KB
Volume: 30
Category: Article
ISSN: 0167-6911
DOI: 10.1016/s0167-6911(97)00011-x

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✦ Synopsis

We examine the avoidability property of singular configurations in redundant robot kinematics. Using a differential form approach a collection of so-called reduced self-motion dynamical systems is attributed to singular configurations distinguished by coranks. The problem of detecting avoidability/unavoidability is transformed to a stability study of the reduced self-motion sys~:ems. Sufficient conditions for avoidability and unavoidability are derived. @ 1997 Elsevier Science B.V.

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