Results 151 to 160 of about 79,822 (189)

Resolving Velocity-Degenerate Configurations (Singularities) of Redundant Manipulators

Volume 7B: 26th Biennial Mechanisms and Robotics Conference, 2000
Abstract A kinematically-(joint)-redundant spatial manipulator will not be velocity degenerate (singular) if any combination of six of its joints span the 6-system of general velocity. Therefore, all 6x6 sub-matrices of the matrix of joint screw coordinates J (commonly referred to as the Jacobian) must be rank deficient for a spatial ...
Ron P. Podhorodeski, Scott B. Nokleby, Jonathan D. Wittchen   +2 more
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Singularity analysis and configuration optimization of two SGCMGs

2017 IEEE Aerospace Conference, 2017
In contrast to past studies that treat each configuration of Single Gimbal Control Moment Gyros (SGCMGs) individually, this paper introduces a unified coordinate frame such that two SGCMGs in arbitrary configuration can be transformed into a unified description.
Chengfei Yue, Cher Hiang Goh, Tong Heng Lee, Qiang Shen   +3 more
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Singular configuration research of RRRP manipulators in space

2010 International Conference on Mechanical and Electrical Technology, 2010
End-effector will lose one or some independent component motion when serial mechanism moves to singular configuration, which leads to decreasing of degree of Freedom. That not only affects the finish of expectant motion, but also makes the control of manipulator difficult.
null Liu Xia, null Wang San-min, null Shan Ning   +2 more
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Classification of singular configurations for redundant manipulators

Proceedings., IEEE International Conference on Robotics and Automation, 2002
A general methodology is presented for the singularity analysis of kinematically redundant manipulators. The singular configurations are classified based on the possibility of reconfiguration into a nonsingular posture using self-motion. A procedure is presented to test for the possibility of self-motion at a singular configuration.
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Singular Configuration Analysis of a Portable Exoskeleton Arm

2019 Chinese Automation Congress (CAC), 2019
This paper focuses on the analysis and simulation of singularity configuration of the portable exoskeleton arm. Firstly, the kinematic equation and the Jacobian matrix are deduced. The singular configurations of the redundant exoskeleton mechanism are obtained in a manner that resolves the sub-determinant.
Yongfei Xiao, Xiaochun Fu, Jie Zhao
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A Study of the Singular Configurations of Serial Manipulators

Journal of Mechanisms, Transmissions, and Automation in Design, 1987
A manipulator is at a singular configuration when the screws representing the instantaneous joint motions of the manipulator are linearly dependent, and the manipulator cannot be moved along an exact path with specified orientation in world coordinates.
Shih-Liang Wang, Kenneth J. Waldron
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Behavior of a Pendulum with a Singular Configuration Space

Vestnik St. Petersburg University, Mathematics
zbMATH Open Web Interface contents unavailable due to conflicting licenses.
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On the singular configurations of statically determinate structures

International Journal of Mechanical Sciences, 1965
Abstract This paper shows how singular configurations of statically determinate plane structures can be determined. When the structure is a linkage, such configurations entail degrees of freedom “in the small”, which make it act as a mechanism for infinitesimal motions.
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Local Analysis of Singular Configurations of Open and Closed Loop Manipulators

Multibody System Dynamics, 2002
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.
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Integrative oncology: Addressing the global challenges of cancer prevention and treatment

Ca-A Cancer Journal for Clinicians, 2022
Jun J Mao,, Msce, Lorenzo Cohen, Karen M Mustian   +2 more
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