Abstract
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.
Recommended Citation
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 https://doi.org/10.1109/ROBOT.1989.100072
Meeting Name
1989 IEEE International Conference on Robotics and Automation, 1989
Department(s)
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
Document Type
Article - Conference proceedings
Document Version
Final Version
File Type
text
Language(s)
English
Rights
© 1989 Institute of Electrical and Electronics Engineers (IEEE), All rights reserved.
Publication Date
01 Jan 1989
