Classification of kinematic singularities in planar robot manipulators

DOI10.1016/0167-6911(92)90068-4zbMath0774.93055OpenAlexW2056891425MaRDI QIDQ1199854

Piotr Urban, Krzysztof Tchoń

Publication date: 17 January 1993

Published in: Systems \& Control Letters (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1016/0167-6911(92)90068-4

zbMATH Keywords

acyclicity conditionlocally bifurcation diagramsself-motion manifolds

Mathematics Subject Classification ID

Automated systems (robots, etc.) in control theory (93C85)

Related Items (3)

Normal forms of non-redundant singular robot kinematics: Three DOF worked examples ⋮ Singularities of holonomic and non-holonomic robotic systems: a normal form approach ⋮ Normal forms and singularities of non-holonomic robotic systems: a study of free-floating space robots

Cites Work

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• Singularities of differentiable maps, Volume 2. Monodromy and asymptotics of integrals. Transl. from the Russian by Hugh Porteous and revised by the authors and James Montaldi
• On the singular tracking problem
• Tracking control of a flexible robot link

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