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Numerical computation of manipulator singularities

Author
Bohigas, O.; Zlatanov, D.; Ros, L.; Manubens, M.; Porta, J.
Type of activity
Presentation of work at congresses
Name of edition
2012 IEEE International Conference on Robotics and Automation
Date of publication
2012
Presentation's date
2012
Book of congress proceedings
Proceedings of the 2012 IEEE International Conference on Robotics and Automation
First page
1351
Last page
1358
Publisher
IEEE
DOI
https://doi.org/10.1109/ICRA.2012.6225083 Open in new window
Repository
http://hdl.handle.net/2117/17988 Open in new window
URL
http://dx.doi.org/10.1109/ICRA.2012.6225083 Open in new window
Abstract
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 singu- larities with the desi...
Citation
Bohigas, O. [et al.]. Numerical computation of manipulator singularities. A: IEEE International Conference on Robotics and Automation. "Proceedings of the 2012 IEEE International Conference on Robotics and Automation". St. Paul - Minessota: IEEE, 2012, p. 1351-1358.
Keywords
branch-and-prune method, linear relaxation, non-redundant manipulator, robots PARAULES AUTOR: singularity set computation
Group of research
DCG - Discrete and Combinatorial Geometry
KRD - Kinematics and Robot Design

Participants

  • Bohigas Nadal, Oriol  (author and speaker )
  • Zlatanov, Dimiter  (author and speaker )
  • Ros Giralt, Lluis  (author and speaker )
  • Manubens Ferriol, Montserrat  (author and speaker )
  • Porta Pleite, Jose Maria  (author and speaker )