Inverse Velocity and Singularity Analysis of Low-DOF Serial Manipulators

DOI10.1002/ROB.10079zbMATH Open1047.70028OpenAlexW1963651809MaRDI QIDQ4452429FDOQ4452429

Authors: Yuefa Fang, Lung-Wen Tsai 

Publication date: 12 February 2004

Published in: Journal of Robotic Systems (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1002/rob.10079

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Mathematics Subject Classification ID

Kinematics of mechanisms and robots (70B15) Robot dynamics and control of rigid bodies (70E60)

Cites Work

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Cited In (6)

• Inverse dynamics of underactuated planar manipulators without inertial coupling singularities
• Generalized Jacobian analysis of lower mobility manipulators
• Formal analysis of the kinematic Jacobian in screw theory
• A universal modelling approach and a response index to the vibration analysis for space parallel robots by means of screw theory
• Motion pattern singularity in lower mobility parallel manipulators
• Identifying multi-DOF-loss velocity degeneracies in kinematically-redundant manipulators.

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