The singularities of the differential kinematic map, i.e. of the manipulator Jacobian, are considered. The authors first examine the notion of a generic kinematic map, whose singularities form smooth manifolds of prescribed dimension in the joint space of the manipulator. For three-joint robots, an equivalent condition for genericity using determinants is derived. The condition lends itself to symbolic computation and is sufficient for the study of decoupled manipulators, i.e. manipulators that an be separated into a three-joint translating part and a three-joint orienting part. The results are illustrated by analyzing the singularities of two classes of three-joint positioning robots.
M. Leu and D. K. Pai, "Generic Singularities of Robot Manipulators," Proceedings of the 1989 IEEE International Conference on Robotics and Automation, 1989, Institute of Electrical and Electronics Engineers (IEEE), Jan 1989.
The definitive version is available at http://dx.doi.org/10.1109/ROBOT.1989.100072
1989 IEEE International Conference on Robotics and Automation, 1989
Mechanical and Aerospace Engineering
Keywords and Phrases
Differential Kinematic Map; Kinematics; Manipulator Jacobian; Robot Manipulators; Robots; Singularities; Smooth Manifolds; Three-Joint Positioning Robots; Three-Joint Robots
Article - Conference proceedings
© 1989 Institute of Electrical and Electronics Engineers (IEEE), All rights reserved.