Genericity and Singularities of Robot Manipulators

Document Type

Article

Publication Date

1-1-1992

Abstract

We study the kinematic singularities of robot manipulators from the point of view of the theory of singularities. We examine the notion of a “generic” kinematic map, whose singularities form smooth manifolds of prescribed dimension in the joint space of the manipulator. For three-joint robots, an equivalent algebraic condition for genericity using Jacobian determinants is derived. This condition lends itself to symbolic computation and is sufficient for the study of decoupled manipulators. Orientation and translation singularities of manipulators are studied in detail. A complete characterization of orientation singularities of robots with any number of joints is given. The translation singularities of the eight possible topologies of three-joint robots are studied and the conditions on the link parameters for nongenericity are determined. © 1992 IEEE

Identifier

0026941248 (Scopus)

Publication Title

IEEE Transactions on Robotics and Automation

External Full Text Location

https://doi.org/10.1109/70.163780

ISSN

1042296X

First Page

545

Last Page

559

Issue

5

Volume

8

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