Local analysis of singular configurations of open and closed loop manipulators

DOI10.1023/A:1020969529920zbMath1028.70004OpenAlexW86857829MaRDI QIDQ1851115

Andreas Müller

Publication date: 15 December 2002

Published in: Multibody System Dynamics (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1023/a:1020969529920

zbMATH Keywords

parallel manipulatorsscrew systemserial manipulatorssingular configurationspassive jointsactive jointsmanipulator Jacobianmaximum rank deficiencyminimum number of joints

Mathematics Subject Classification ID

Control of mechanical systems (70Q05) Kinematics of mechanisms and robots (70B15) Robot dynamics and control of rigid bodies (70E60)

Related Items (4)

Verification of the higher order kinematic analyses equations ⋮ Synthesis of kinematotropic parallel manipulators by inclusion of additional motion generators ⋮ Application of General Multibody Methods to Robotics ⋮ Classification and higher order analysis of manipulator singularities

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