A classification of 3R regional manipulator singularities and geometries

Burdick, Joel W. (1991) A classification of 3R regional manipulator singularities and geometries. In: Proceedings. 1991 IEEE International Conference on Robotics and Automation. Vol.3. IEEE , Piscataway, NJ, pp. 2670-2675. ISBN 0-8186-2163-X. https://resolver.caltech.edu/CaltechAUTHORS:20190611-104707427

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Abstract

3R manipulator singularities and geometries based on genericity are categorized. A recursive application of screw theory is used to generate singular configurations and provide a geometric interpretation of nongenericity. A generic manipulator classification scheme based on homotopy class is introduced. Nongeneric geometries are interpreted as bifurcations of generic geometries with respect to kinematic parameter values. Some conjectures on the classes of manipulators which can change pose without passing through a singularity are also given.

Item Type:

Book Section

Related URLs:

URL	URL Type	Description
https://doi.org/10.1109/ROBOT.1991.132033	DOI	Article

Additional Information:

DOI:

10.1109/ROBOT.1991.132033

Record Number:

CaltechAUTHORS:20190611-104707427

Persistent URL:

https://resolver.caltech.edu/CaltechAUTHORS:20190611-104707427

Official Citation:

J. W. Burdick, "A classification of 3R regional manipulator singularities and geometries," Proceedings. 1991 IEEE International Conference on Robotics and Automation, Sacramento, CA, USA, 1991, pp. 2670-2675 vol.3. doi: 10.1109/ROBOT.1991.132033

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ID Code:

96275

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CaltechAUTHORS

Deposited By:

Tony Diaz

Deposited On:

11 Jun 2019 21:28

Last Modified:

16 Nov 2021 17:19

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