Decomposition of the space of parameters of a kinematical chain by its singularities

Mechanics Research Communications

Volumn 25, Issue 6, 1998, Pages 637-642

  Lerbet, Jean ^a  

^a UNIVERSITÉ PARIS EST   (France)

Author keywords

[No Author keywords available]

Indexed keywords

CALCULATIONS; DYNAMICS; FUNCTIONS; GEOMETRY; MATRIX ALGEBRA; PROBLEM SOLVING;

KINEMATICAL CHAIN; SINGULARITIES;

KINEMATICS;

EID: 0032203121     PISSN: 00936413     EISSN: None     Source Type: Journal    
DOI: 10.1016/s0093-6413(98)00082-2     Document Type: Article

References (9)

1. V. Arnold A.Varchenko S.Goussein-Zade Singularités des applications différentiable Mir (1986)
2. K.Tsai J.Arnold D.Kohli Generic maps of mechanical manipulators Mech. Mach. Theory Vol. ,No. , pp.53-64 (1993)
3. D.P.Chevallier Lie Algebras, Modules, Dual Quaternions and Algebraic Methods in Kinematics Mech. Mach. Theory Vol. 26, No. 6 pp.613-627 (1991)
4. C.G.Gibson K.H.Hunt Geometry of Screw Systems. Part I and II Mech. Mach. Theory Vol. 25, No. 1 pp.1-10 and pp.11-27 (1990)
5. J.M.Hervé Intrinsic Formulation of Problems of Geometry and Kinematics of Mechanisms Mech. Mach. Theory Vol. 17, No. 3 pp. 179-184 (1982)
6. A.Karger Geometry of the motion of robot manipulators Manuscripta mathematica, 62, pp. 115-328 (1989)
7. A.Karger Classification of Serial Robot-Manipulators with Nonremovable Singularities Journal of Mechanical Design, Vol.118, pp. 202-208 (1996)
8. E.N.Kuznetsov Systems With Infinitesimal Mobility: PartI-II Matrix Analysis and First-Order Infinitesimal Mobility Journal of Applied Mechanics Vol. 58, pp.513-519 and pp.520-526(June 1991)
9. J.Lerbet Mathematical structure of the closure function of a mechanism 3 ARK (September 7-9, 1992, Ferrara, Italy)