Trabajo presentado al ICRA celebrado en Minnesota del 14 al 18 de mayo de 2012. ; This paper provides a method to compute all types of singularities of non-redundant manipulators with non-helical lower pairs and designated instantaneous input and output speeds. A system of equations describing each singularity type is given. Using a numerical method based on linear relaxations, the configurations in each type are computed independently. The method is general and complete: it can be applied to manipulators with arbitrary geometry; and will isolate singularities with the desired accuracy. As an example, the entire singularity set and its complete classification are computed for a two-degree-of-freedom mechanism. The complex partition of the configuration space by various singularities is illustrated by three-dimensional projections. ; This work has been partially supported by the Spanish Ministry of Economy through the contract DPI2010-18449, and by a Juan de la Cierva contract supporting the fourth author. ; Peer Reviewed


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    Titel :

    Numerical computation of manipulator singularities


    Beteiligte:
    Bohigas, Oriol (Autor:in) / Zlatanov, Dimiter (Autor:in) / Ros, Lluís (Autor:in) / Manubens, Montserrat (Autor:in) / Porta, Josep M. (Autor:in)

    Erscheinungsdatum :

    01.01.2012



    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch


    Klassifikation :

    DDC:    629



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