SINGULARITIES OF ROBOT MANIPULATORS

DOI10.1142/9789812707499_0006MaRDI QIDQ3595829zbMATH OpenOpenAlexFDO

Authors Peter S. Donelan

Publication date 28 August 2007

Published in Singularity Theory (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1142/9789812707499_0006

zbMATH Keywords

robot manipulatorscrew systemsingularity

Mathematics Subject Classification ID

Kinematics of mechanisms and robots (70B15) Robot dynamics and control of rigid bodies (70E60) Topological and differential topological methods for problems in mechanics (70G40)

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Cited in

(18)

• Topological and kinematic singularities for a class of parallel mechanisms
• Classification of kinematic singularities in planar robot manipulators
• Singularities of holonomic and non-holonomic robotic systems: a normal form approach
• Homological invariants for classification of kinematic singularities
• A time-varying coefficient-based manipulability-maximizing scheme for motion control of redundant robots subject to varying joint-velocity limits
• Motion pattern singularity in lower mobility parallel manipulators
• scientific article; zbMATH DE number 1187503 (Why is no real title available?)
• scientific article; zbMATH DE number 32261 (Why is no real title available?)
• Normal forms of non-redundant singular robot kinematics: Three DOF worked examples
• A short note on point singularities for robot manipulators
• The Singularity Principle and Property of Stewart Parallel Manipulator
• A topologist's view of kinematic maps and manipulation complexity
• scientific article; zbMATH DE number 2160463 (Why is no real title available?)
• scientific article; zbMATH DE number 798837 (Why is no real title available?)
• Singularities of robot mechanisms. Numerical computation and avoidance path planning
• scientific article; zbMATH DE number 4196553 (Why is no real title available?)
• Stratifications of the Euclidean motion group with applications to robotics
• Singular planes of serial wrist-partitioned manipulators and their singularity metrics

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