Local analysis of singular configurations of open and closed loop manipulators

DOI10.1023/A:1020969529920MaRDI QIDQ1851115zbMATH OpenOpenAlexFDO

Authors Andreas Müller

Publication date 15 December 2002

Published in Multibody System Dynamics (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1023/a:1020969529920

zbMATH Keywords

parallel manipulatorsscrew systemserial manipulatorssingular configurationspassive jointsactive jointsmanipulator Jacobianmaximum rank deficiencyminimum number of joints

Mathematics Subject Classification ID

Kinematics of mechanisms and robots (70B15) Robot dynamics and control of rigid bodies (70E60) Control of mechanical systems (70Q05)

Recommendations

• Analysis of configuration space singularities of closed-loop mechanisms and parallel manipulators
• scientific article; zbMATH DE number 1031289
• Classification and higher order analysis of manipulator singularities
• scientific article; zbMATH DE number 2160463
• Singularity and controllability analysis of parallel manipulators and closed-loop mechanisms.

Cited in

(23)

• Synthesis of kinematotropic parallel manipulators by inclusion of additional motion generators
• scientific article; zbMATH DE number 2160463 (Why is no real title available?)
• Singular planes of serial wrist-partitioned manipulators and their singularity metrics
• Singularity and controllability analysis of parallel manipulators and closed-loop mechanisms.
• Application of general multibody methods to robotics
• Inverse Velocity and Singularity Analysis of Low-DOF Serial Manipulators
• Verification of the higher order kinematic analyses equations
• Singularity analysis of the Canadarm2
• Classification and higher order analysis of manipulator singularities
• A centro-based characterization of singularities in the workspace of planar closed-loop manipulators
• Hypersurfaces of special configurations of serial manipulators and related concepts. part II: Passive joints, configurations, component manifolds and some applications
• Hierarchical kinematic analysis of robots.
• Analysis of instantaneous motions of deficient-rank 3-RPS parallel manipulators
• Local dexterity analysis for open kinematic chains
• Representational singularities in the torque optimization problem of an active closed loop mechanism
• An algorithm for identifying high-rank singularities of arbitrary redundant robots
• Hypersurfaces of special configurations of serial manipulators and related concepts. part I: Theory and development of the hypersurfaces of special configurations
• Manipulability and static stability of parallel manipulators
• Application of line geometry and linear complex approximation to singularity analysis of the 3-DOF caPaMan parallel manipulator.
• Analysis of configuration space singularities of closed-loop mechanisms and parallel manipulators
• Singularity Analysis for Redundant Manipulators of Arbitrary Kinematic Structure
• Computational algebraic geometry and global analysis of regional manipulators
• All singularities of the 9-DOF DLR medical robot setup for minimally invasive applications

This page was built for publication: Local analysis of singular configurations of open and closed loop manipulators

Report a bug (only for logged in users!)Click here to report a bug for this page (MaRDI item Q1851115)