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

active jointsmanipulator Jacobianmaximum rank deficiencyminimum number of jointsparallel manipulatorspassive jointsscrew systemserial manipulatorssingular configurations

Mathematics Subject Classification ID

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

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• Verification of the higher order kinematic analyses equations
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• Hypersurfaces of special configurations of serial manipulators and related concepts. part I: Theory and development of the hypersurfaces of special configurations
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• Inverse Velocity and Singularity Analysis of Low-DOF Serial Manipulators
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• Singularity Analysis for Redundant Manipulators of Arbitrary Kinematic Structure
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