Digital Library of Zielona Góra contains 9 272 digital objects
Object
Title: Kinematics of path tracking at singularities of the planar 2R manipulator
Contributor:
Tchoń, Krzysztof - ed. ; Gosiewski, Anatol - ed.
Subtitle:
Mathematical Methods in Robotics
Group publication title:
Abstract:
A method for determining the differential kinematics of path tracking at singular configurations of the planar 2R manipulator is presented. The method is based on Taylor series analysis of the displacement equations to determine low-order parametric curves that satisfy those equations. ; Results show that singularities can take the form of isolated points, turning points, nodes, and cusps and that the form of the singularity depends on the degree of contact between the path and the workspace boundary. The resulting expansions provide complete low-order information on admissible rates of path traversal and on all families of joint trajectories that track the path at the singularity.
Publisher:
Zielona Góra: Uniwersytet Zielonogórski
Resource Identifier:
Pages:
Source:
AMCS, volume 5, number 2 (1995) ; click here to follow the link
Language:
License CC BY 4.0:
Rights:
Biblioteka Uniwersytetu Zielonogórskiego
Object collections:
- Repository > Faculties > Faculty of Computer, Electrical and Control Engineering
- Repository > Types of work > Articles
- Repository > Scientific journals and UZ publishing series > International Journal of Applied Mathematics and Computer Science (AMCS) > International Journal of Applied Mathematics and Computer Science (AMCS) (1995)
Last modified:
Jul 14, 2025
In our library since:
Sep 21, 2020
Number of object content hits:
114
All available object's versions:
https://zbc.uz.zgora.pl/repozytorium/publication/64258
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| Edition name | Date |
|---|---|
| Kinematics of path tracking at singularities of the planar 2R manipulator | Jul 14, 2025 |
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