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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:
URLURL TypeDescription
https://doi.org/10.1109/ROBOT.1991.132033DOIArticle
Additional Information:© 1991 IEEE.
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
Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:96275
Collection:CaltechAUTHORS
Deposited By: Tony Diaz
Deposited On:11 Jun 2019 21:28
Last Modified:03 Oct 2019 21:20

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