Burdick, Joel W. (1992) A recursive method for finding revolute-jointed manipulator singularities. In: Proceedings 1992 IEEE International Conference on Robotics and Automation. Vol.1. IEEE , Piscataway, NJ, pp. 448-453. ISBN 0-8186-2720-4. https://resolver.caltech.edu/CaltechAUTHORS:20190612-103424926
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Abstract
A geometric application of screw theory is used to develop a recursive algorithm for computing all singular configurations of revolute-jointed manipulators with arbitrary geometry and an arbitrary number of joints. The depth of the recursion is linear in the number of joints, n, while the computational burden is proportional to 2^(n-2). This method does not require explicit construction of the Jacobian matrix elements or a determinant operation. Further, the screw axis of the singular motion is determined at no additional cost. The bifurcations of this algorithm are also explored.
Item Type: | Book Section | ||||||
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Additional Information: | © 1992 IEEE. | ||||||
DOI: | 10.1109/ROBOT.1992.220299 | ||||||
Record Number: | CaltechAUTHORS:20190612-103424926 | ||||||
Persistent URL: | https://resolver.caltech.edu/CaltechAUTHORS:20190612-103424926 | ||||||
Official Citation: | J. W. Burdick, "A recursive method for finding revolute-jointed manipulator singularities," Proceedings 1992 IEEE International Conference on Robotics and Automation, Nice, France, 1992, pp. 448-453 vol.1. doi: 10.1109/ROBOT.1992.220299 | ||||||
Usage Policy: | No commercial reproduction, distribution, display or performance rights in this work are provided. | ||||||
ID Code: | 96320 | ||||||
Collection: | CaltechAUTHORS | ||||||
Deposited By: | Tony Diaz | ||||||
Deposited On: | 12 Jun 2019 17:43 | ||||||
Last Modified: | 16 Nov 2021 17:19 |
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