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On the numerical classification of the singularities of robot manipulators

Autor
Zlatanov, D.; Bohigas, O.; Manubens, M.; Ros, L.
Tipus d'activitat
Presentació treball a congrés
Nom de l'edició
2012 ASME International Design Engineering Technical Conference (IDETC)
Any de l'edició
2013
Data de presentació
2012
Llibre d'actes
Proceedings of the 2012 ASME International Design Engineering Technical Conference
Pàgina inicial
1287
Pàgina final
1296
DOI
https://doi.org/10.1115/DETC2012-70921 Obrir en finestra nova
Repositori
http://hdl.handle.net/2117/22685 Obrir en finestra nova
URL
http://proceedings.asmedigitalcollection.asme.org/proceeding.aspx?articleid=1736416 Obrir en finestra nova
Resum
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...
Citació
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.
Paraules clau
branch-and-prune method, classification, linear relaxation, manipulators robot kinematics singularities
Grup de recerca
KRD - Cinemàtica i Disseny de Robots
ROBiri - Grup de Robòtica de l'IRI

Participants

  • Zlatanov, Dimiter  (autor ponent)
  • Bohigas Nadal, Oriol  (autor ponent)
  • Manubens Ferriol, Montserrat  (autor ponent)
  • Ros Giralt, Lluis  (autor ponent)