Normal forms of non-redundant singular robot kinematics: Three DOF worked examples

DOI<link itemprop=identifier href="https://doi.org/10.1002/(SICI)1097-4563(199612)13:12<765::AID-ROB1>3.0.CO;2-T" /><765::AID-ROB1>3.0.CO;2-T 10.1002/(SICI)1097-4563(199612)13:12<765::AID-ROB1>3.0.CO;2-TzbMath0925.70035OpenAlexW2055546797MaRDI QIDQ4359898

Krzysztof Tchoń, Robert Muszyński

Publication date: 25 November 1997

Full work available at URL: https://doi.org/10.1002/(sici)1097-4563(199612)13:12<765::aid-rob1>3.0.co;2-t

zbMATH Keywords

Jacobian matrixgeometric conditionscorank 1 singular manipulator kinematics

Mathematics Subject Classification ID

Kinematics of mechanisms and robots (70B15)

Cites Work

• Classification of kinematic singularities in planar robot manipulators
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