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The dexterity and singularities of an underactuated robot (Q2722677)

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scientific article; zbMATH DE number 1613418
Language Label Description Also known as
English
The dexterity and singularities of an underactuated robot
scientific article; zbMATH DE number 1613418

    Statements

    title
    The dexterity and singularities of an underactuated robot (English)
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    author
    Rodney G. Roberts
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    publication date
    29 May 2002
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    zbMATH Keywords
    underactuated robot
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    manipulator dexterity
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    passive-joint singularity
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    joint-limit singularity
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    space diagrams
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    planar 3R manipulator
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    review text
    The author deals with underactuated robots, i.e. with robotic systems which possess more joints than actuators. Using kinematics and dynamics-based formulations of manipulator dexterity, the author characterizes passive-joint singularities, thus describing new joint-limit singularities. As an example the author obtains space diagrams for the unlocked dexterity of a planar 3R manipulator whose third joint is passive and free-swinging or locked.
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    Identifiers

    zbMATH DE Number
    1613418
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    OpenAlex ID
    W2147532297
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    DOI
    10.1002/ROB.1013
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