A Recursive Method for Finding Revolute-Jointed Manipulator Singularities-Reference-Cited by-同舟云学术

A Recursive Method for Finding Revolute-Jointed Manipulator Singularities

Published:1995-03-01 Issue:1 Volume:117 Page:55-63
ISSN:1050-0472
Container-title:Journal of Mechanical Design
language:en
Short-container-title:

Author:

Burdick J. W.¹

Affiliation:

1. Dept. of Mechanical Engineering, California Institute of Technology, Pasadena, CA 91125

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 link geometries 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 2n−2. This method does not require explicit construction of the Jacobian matrix elements or a determinant operation. The method is also robust with respect to the bifurcations that occur for industrial robot geometries. Further, the screw axis of the singular motion is determined at no additional cost.

Publisher

ASME International

Subject

Computer Graphics and Computer-Aided Design,Computer Science Applications,Mechanical Engineering,Mechanics of Materials

Link

http://asmedigitalcollection.asme.org/mechanicaldesign/article-pdf/117/1/55/5633511/55_1.pdf

Reference17 articles.

1. Bedrossian, N. S., 1990, “Classification of Singular Configurations For Redundant Manipulators,” Proc. IEEE Int. Conf. on Robotics and Automation, Cincinatti, OH, May 14–19, pp. 818–823.

2. Bottema, O., and Roth, B., 1979, Theoretical Kinematics, North Holland Publishing Company, Amsterdam.

3. Burdick, J. W., 1989, “On the Inverse Kinematics of Redundant Manipulators: Characterization of the Self-Motion Manifolds,” Proc. IEEE Int. Conf. on Robotics and Automation, May 15–19, 1989, Scottsdale, AZ.

4. Burdick J. W. , 1995, “A Classification of 3R Regional Manipulator Singularities and Geometries,” Mechanism and Machine Theory, Vol. 30, No. 1, pp. 71–89.

5. Craig, J. J., 1986, Introduction to Robotics: Manipulation and Control, Addison-Wesley, Reading, MA.

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