Affiliation:
1. Mechanical, Aerospace and Nuclear Engineering University of California Los Angeles, California 90024
Abstract
This paper presents a new method for identifying conditions governing all singular configurations of simple six-link ma nipulators whose inverse kinematic position problems have closed-form solutions. The method is developed based on the concepts of service sphere, free service region, and dextrous wrist. For a simple six-link manipulator, we identify its singular state with finite internal degrees of freedom by using the conditions that cause the manipulator's inverse solutions to be indeterminate. Meanwhile its singular state with infini tesimal internal degrees of freedom can be identified by examining the determinant of the Jacobion of the first three links. This simple and straightforward method is illustrated by three examples.
Subject
Applied Mathematics,Artificial Intelligence,Electrical and Electronic Engineering,Mechanical Engineering,Modelling and Simulation,Software
Reference11 articles.
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3. Paul, R.P., Renaud, M., and Stevenson, C.N. 1983. A systematic approach for obtaining the kinematics of recursive manipulators based on homogeneous transformations. Robotics Research Cambridge: MIT Press, pp. 707-726.
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