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A general method for the numerical computation of manipulator singularity sets

Author
Bohigas, O.; Zlatanov, D.; Ros, L.; Manubens, M.; Porta, J.
Type of activity
Journal article
Journal
IEEE journal of robotics and automation
Date of publication
2014
Volume
30
Number
2
First page
340
Last page
351
DOI
https://doi.org/10.1109/TRO.2013.2283416 Open in new window
Project funding
DPI2010-18449 An Extension of Branch-and-Prune Techniques for Motion Analysis and Synthesis of Complex Robotic Systems
Repository
http://hdl.handle.net/2117/24601 Open in new window
Abstract
The analysis of singularities is central to the development and control of a manipulator. However, existing methods for singularity set computation still concentrate on specific classes of manipulators. The absence of general methods able to perform such computation on a large class of manipulators is problematic because it hinders the analysis of unconventional manipulators and the development of new robot topologies. The purpose of this paper is to provide such a method for nonredundant mechan...
Citation
Bohigas, O. [et al.]. A general method for the numerical computation of manipulator singularity sets. "IEEE transactions on robotics", 2014, vol. 30, núm. 2, p. 340-351.
Keywords
Branch-and-prune method, CLASSIFICATION, KINEMATIC CHAINS, PARALLEL MECHANISMS, ROBOTS, WORKSPACE, linear relaxation, nonredundant manipulator, singularity set computation
Group of research
KRD - Kinematics and Robot Design

Participants