A manipulator is considered as a system of rigid bodies interconnected by joints that permit relative motions with certain degrees of freedom. Nonlinear equations that relate the parameters of relative motions generally do not provide unique solutions, and consequently the bodies (links) of the mechanical system may form various configurations. The authors propose a method for determination of the configurations of this mechanical system and associated displacement functions that are based on the determination of singularities in motion of the mechanical system.
SINGULARITIES, CONFIGURATIONS, AND DISPLACEMENT FUNCTIONS FOR MANIPULATORS / Litvin, F. L.; Yi, Zhang; Parenti Castelli, V.; Innocenti, C.. - In: THE INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH. - ISSN 0278-3649. - 5:2(1986), pp. 52-65. [10.1177/027836498600500206]
SINGULARITIES, CONFIGURATIONS, AND DISPLACEMENT FUNCTIONS FOR MANIPULATORS
Innocenti C.
1986
Abstract
A manipulator is considered as a system of rigid bodies interconnected by joints that permit relative motions with certain degrees of freedom. Nonlinear equations that relate the parameters of relative motions generally do not provide unique solutions, and consequently the bodies (links) of the mechanical system may form various configurations. The authors propose a method for determination of the configurations of this mechanical system and associated displacement functions that are based on the determination of singularities in motion of the mechanical system.
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