scientific article; zbMATH DE number 798837

MaRDI QIDQ4847335zbMATH OpenFDO

Authors Krzysztof Tchoń

Publication date 20 September 1995

zbMATH Keywords

bifurcationnormal formsrobot kinematicssingularities

Mathematics Subject Classification ID

Differentiable maps on manifolds (58C25) Theory of singularities and catastrophe theory (58K99) Automated systems (robots, etc.) in control theory (93C85)

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(9)

• Classification of kinematic singularities in planar robot manipulators
• Kinematic analysis of a manipulator with its position and velocity related singular configurations.
• Singularities of the Euler wrist
• Topology of the singularities of 3-RPR planar parallel robots
• Singularities of holonomic and non-holonomic robotic systems: a normal form approach
• An exhaustive study of the workspace topologies of all 3R orthogonal manipulators with geometric simplifications
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• Normal forms of non-redundant singular robot kinematics: Three DOF worked examples
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