Trabajo presentado al ICRA celebrado en Minnesota del 14 al 18 de mayo de 2012. ; This paper provides a method to compute all types of singularities of non-redundant manipulators with non-helical lower pairs and designated instantaneous input and output speeds. A system of equations describing each singularity type is given. Using a numerical method based on linear relaxations, the configurations in each type are computed independently. The method is general and complete: it can be applied to manipulators with arbitrary geometry; and will isolate singularities with the desired accuracy. As an example, the entire singularity set and its complete classification are computed for a two-degree-of-freedom mechanism. The complex partition of the configuration space by various singularities is illustrated by three-dimensional projections. ; This work has been partially supported by the Spanish Ministry of Economy through the contract DPI2010-18449, and by a Juan de la Cierva contract supporting the fourth author. ; Peer Reviewed
Numerical computation of manipulator singularities
2012-01-01
Conference paper
Electronic Resource
English
DDC: | 629 |
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