Local analysis of singular configurations of open and closed loop manipulators
type: Item
instance of: scholarly article
title: Local analysis of singular configurations of open and closed loop manipulators
zbMATH Open document ID: 1028.70004
DOI: 10.1023/A:1020969529920
published in: Multibody System Dynamics
publication date: 2002-12-15T00:00:00Z
review text: The author presents a general approach to local analysis of singular configurations of both serial and parallel manipulators. It is shown that the maximum rank deficiency of the manipulator Jacobian never has to exceed 4. Singular configurations are classified with respect to active and passive joints. The author also presents a purely algebraic algorithm which determines the singular motion of a mechanism based on its instantaneous screw system. The singular set can locally be approximated by a hypersurface of maximum degree 4. The minimum number of joints that a serial manipulator must activate in order to escape from a singular configuration is also given.
Mathematics Subject Classification ID: 70E60
Mathematics Subject Classification ID: 70B15
Mathematics Subject Classification ID: 70Q05
zbMATH DE Number: 1845476
zbMATH Keywords: active joints
zbMATH Keywords: serial manipulators
zbMATH Keywords: singular configurations
zbMATH Keywords: parallel manipulators
zbMATH Keywords: maximum rank deficiency
zbMATH Keywords: manipulator Jacobian
zbMATH Keywords: passive joints
zbMATH Keywords: screw system
zbMATH Keywords: minimum number of joints
author: Andreas Müller
reviewed by: Clementina Mladenova
MaRDI profile type: Publication
full work available at URL: a:1020969529920
OpenAlex ID: W86857829
description: scientific article; zbMATH DE number 1845476