Creator:

Tchoń, Krzysztof

Contributor:

Tchoń, Krzysztof - ed. ; Gosiewski, Anatol - ed.

Title:

Normal forms of kinematic singularities of 3R robot manipulators

Subtitle:

Mathematical Methods in Robotics

Group publication title:

AMCS, volume 5 (1995)

Subject and Keywords:

sterowanie ; sterowanie-teoria ; sztuczna inteligencja ; matematyka stosowana ; informatyka

Abstract:

Using the singularity theory approach we study kinematic singularities of 3R robot manipulators satisfying certain geometric conditions. A classification of singular configurations is set forth and three mathematical models (normal forms) of the kinematics around singular configurations are derived.

Publisher:

Zielona Góra: Uniwersytet Zielonogórski

Date:

1995

Resource Type:

artykuł

Pages:

391-407

Source:

AMCS, volume 5, number 2 (1995) ; click here to follow the link

Language:

eng

License CC BY 4.0:

click here to follow the link

Rights:

Biblioteka Uniwersytetu Zielonogórskiego