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Normal Forms and Configuration Singularities of a Space Manipulator [PDF]
Journal of Intelligent and Robotic Systems: Theory and Applications, 2018 This paper addresses the problem of normal forms and singularities of non-holonomic robotic systems represented by control-affine systems. By means of the concept of the end-point map of the system, and of the system’s Jacobian, the configuration singularities have been defined as the control functions for which the Jacobian is not surjective.
Joanna Ratajczak +2 more
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Image based visual servoing with kinematic singularity avoidance for mobile manipulator [PDF]
PeerJ Computer ScienceThis article presents an implementation of visual servoing (VS) for a redundant mobile manipulator in an eye-in-hand configuration. We used the image based visual servoing (IBVS) scheme, which means the pose control of the robot is based on the error ...
Jesus Hernandez-Barragan +4 more
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Matroid connectivity and singularities of configuration hypersurfaces [PDF]
Letters in Mathematical Physics, 2021 AbstractConsider a linear realization of a matroid over a field. One associates with it a configuration polynomial and a symmetric bilinear form with linear homogeneous coefficients. The corresponding configuration hypersurface and its non-smooth locus support the respective first and second degeneracy scheme of the bilinear form.
Graham Denham +2 more
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Singular Configuration Analysis and Singularity Avoidance with Application in an Intelligent Robotic Manipulator [PDF]
Sensors, 2022 Recently, robotic sensor systems have gained more attention annually in complex system sense strategies. The robotic sensors sense the information from itself and the environment, and fuse information for the use of perception, decision, planning, and control.
Wang, Helin +3 more
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Galaxies, 2021 There are a number of publications on relativistic objects dealing either with black holes or naked singularities in the center. Here we show that there exist static spherically symmetric solutions of Einstein equations with a strongly nonlinear scalar ...
Oleksandr Stashko, Valery I. Zhdanov
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Overcoming Kinematic Singularities for Motion Control in a Caster Wheeled Omnidirectional Robot
Robotics, 2021 Omnidirectional planar robots are common these days due to their high mobility, for example in human–robot interactions. The motion of such mechanisms is based on specially designed wheels, which may vary when different terrains are considered. The usage
Oded Medina, Shlomi Hacohen
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On singularities of real algebraic sets and applications to kinematics
Open Mathematics, 2020 We address the question of identifying non-smooth points in Vℝ(I){{\bf{V}}}_{{\mathbb{R}}}(I) the real part of an affine algebraic variety. Two simple algebraic criteria will be formulated and proven.
Diesse Marc
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Singularities of Serial Robots: Identification and Distance Computation Using Geometric Algebra
Mathematics, 2022 The singularities of serial robotic manipulators are those configurations in which the robot loses the ability to move in at least one direction. Hence, their identification is fundamental to enhance the performance of current control and motion planning
Isiah Zaplana +2 more
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Analysis of Singular Configuration of Robotic Manipulators [PDF]
Electronics, 2021 Robotic manipulators inevitably encounter singular configurations in the process of movement, which seriously affects their performance. Therefore, the identification of singular configurations is extremely important. However, serial manipulators that do not meet the Pieper criterion cannot obtain singular configurations through analytical methods.
Xinglei Zhang +3 more
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Electronic Journal of Qualitative Theory of Differential Equations, 2014 In this article we obtain the geometric classification of singularities, finite and infinite, for the three subclasses of quadratic differential systems with $m_f=4$ possessing exactly two finite singularities, namely: (i) systems with two double complex
Joan Artés +4 more
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