Singularity analysis of serial robot-manipulators

Journal of Mechanical Design, Transactions of the ASME

Volumn 118, Issue 4, 1996, Pages 520-525

  Karger, A ^a  

^a MATHEMATICAL INSTITUTE   (Czech Republic)

Author keywords

[No Author keywords available]

Indexed keywords

ALGORITHMS; DEGREES OF FREEDOM (MECHANICS); END EFFECTORS; MATRIX ALGEBRA; MOTION PLANNING; VECTORS;

LIE ALGEBRA; SERIAL ROBOT MANIPULATORS; SINGULARITY ANALYSIS;

MANIPULATORS;

EID: 0030388415     PISSN: 10500472     EISSN: None     Source Type: Journal    
DOI: 10.1115/1.2826922     Document Type: Article

References (9)

1. Wang, S. L., and Waldron, K. J., “A Study of the Singular Configurations of Serial Manipulators,” ASME JOURNAL OF MECHANISMS, TRANSMISSIONS AND AUTOMATION IN DESIGN, Vol. 109, 1987, pp. 14-20.
2. Litvin, F. L., “Application of Theorem of Implicit Function System Existence for Analysis and Synthesis of Linkages,” Mech. and Mack. Theory, Vol. 15, 1980, pp. 115-125.
3. Litvin, F. L., Zhang, Y., Parenti Castelli, V., and Innocenti, C, “Singularities, Configurations and Displacement Functions for Manipulators,” The Intern. Journ. of Robotic Research, Vol. 5, 1980, pp. 52-65.
4. Hunt, K. H., “Special Configurations of Robot Arms via Screw Theory, Part 1. The Jacobian and Its Matrix of Cefaclors,” Robotica, Vol. 4, 1986, pp. 171-179.
5. Lipkin, H., and Pohl, E., “Enumeration of Singular Configurations for Robodc Manipulators,” ASME JOURNAL OF MECHANICAL DESIGN, Vol. 113, 1991, pp. 272-279.
6. Martinez, J. M. R., Alvarado, J. G., and Duffy, J. A., “A Determination of Singular Configurations of Serial Non-Redundant Manipulators and Their Escapement from Singularities Using Lie Products,” Proceedings of the Conference . on Computational Kinematics, Nizza, 1994.
7. Karger, A., 1994, “Classification of Robot-Manipulators With Only Singular Configurations,” Mech. Mach. Theory, Vol. 30, 19, 95, pp. 727-736.
8. Karger, A., “Classification of Serial Robot-Manipulators With Nonremovable Singularities,” ASME JOURNAL OF MECHANICAL DESIGN, Vol. 118, pp. 202-208, 1996.
9. Sardis, R. M., Ravani, B., and Bodduluri, R. M. C, “A Kinematic Design Criterion for Singularity Avoidance in Redundant Manipulators,” Proc. of the 3rd ARK Conference, Ferrara, Italy, Sept. 7-9, 1992, pp. 257-261. Journal