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On the numerical classification of the singularities of robot manipulators

Author
Zlatanov, D.; Bohigas, O.; Manubens, M.; Ros, L.
Type of activity
Presentation of work at congresses
Name of edition
2012 ASME International Design Engineering Technical Conference (IDETC)
Date of publication
2013
Presentation's date
2012
Book of congress proceedings
Proceedings of the 2012 ASME International Design Engineering Technical Conference
First page
1287
Last page
1296
DOI
https://doi.org/10.1115/DETC2012-70921 Open in new window
Repository
http://hdl.handle.net/2117/22685 Open in new window
URL
http://proceedings.asmedigitalcollection.asme.org/proceeding.aspx?articleid=1736416 Open in new window
Abstract
This paper is concerned with the task to obtain a complete description of the singularity set of any given non-redundant manipulator, including the identification and the precise computation of each constituent singularity class. Configurations belonging to the same class are equivalent in terms of the various types of kinematic and static degeneracy that characterize mechanism singularity. The proposed approach is an extension of recent work on computing singularities using a numerical method b...
Citation
Bohigas, O. [et al.]. On the numerical classification of the singularities of robot manipulators. A: ASME International Design Engineering Technical Conferences. "Proceedings of the 2012 ASME International Design Engineering Technical Conference". Chicago: 2013, p. 1287-1296.
Keywords
branch-and-prune method, classification, linear relaxation, manipulators robot kinematics singularities
Group of research
KRD - Kinematics and Robot Design
ROBiri - IRI Robotics Group

Participants

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