Results 221 to 230 of about 3,227 (267)

Dynamic singular configuration of flexible manipulators

Proceedings. 2000 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2000) (Cat. No.00CH37113), 2002
In this paper, the new concept of the dynamic singular configuration of flexible manipulators using the inverse dynamics method, we need to consider this dynamic singular configuration of flexible manipulators. Without considering it, the control around the dynamic singular configuration may become unstable.
Katsuya Kanaoka, Tsuneo Yoshikawa
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Singularities, Configurations, and Displacement Functions for Manipulators

The International Journal of Robotics Research, 1986
A manipulator is considered as a system of rigid bodies interconnected by joints that permit relative motions with certain degrees of freedom. Nonlinear equations that relate the parameters of relative motions generally do not provide unique solutions, and consequently the bodies (links) of the mechanical system may form various configuratxons.
Litvin F. L., Yi Zhang, Parenti Castelli V., Innocenti C.   +3 more
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Singular configurations and workspace of robots

Robotics and Autonomous Systems, 1988
Abstract The purpose of this paper is to explain the set-up of a general method for finding the singular configurations of a robot. Open en closed chain manipulators made out of links with single degree of freedom joints are considered. The manipulator singular configurations corresponding to inner and outer limits of workspace are found by the study
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Singularity analysis of rooftop configuration

2018 Indian Control Conference (ICC), 2018
Control Moment Gyroscopes are widely used momentum exchange devices with spinning rotors and one or more actuated gimbals. The primary problem associated with a control moment gyroscope array is the existence of singularities. Singularities occur when the torque vector is constrained to a plane or a line and hence torque cannot be generated in IR3 ...
T. S. Vishnu, Harsha Simha, null Priyadarshnam   +2 more
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Singular Assembly Configurations and Configuration Bifurcation Characteristics of the SRHGSMP

Volume 2: 32nd Mechanisms and Robotics Conference, Parts A and B, 2008
In this paper, the configuration bifurcation characteristics at the vicinities of singular points going with different input parameters are investigated. Then, with the aid of the assembly configurations at the theoretical singular points, the reasons to cause the singularities are analyzed.
Yu-Xin Wang, Yu-Tong Li, Zheng Huang, Shuang-Xia Pian   +3 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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Superhyperbolic expansion, noncollision singularities and symmetry configurations

Celestial Mechanics & Dynamical Astronomy, 1994
zbMATH Open Web Interface contents unavailable due to conflicting licenses.
Saari, Donald G., Diacu, Florin N.
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Singular configurations of parallel manipulators and grassmann geometry

The International Journal of Robotics Research, 1989
Parallel manipulators have a specific mechanical architecture where all the links are connected both at the base and at the gripper of the robot. By changing the lengths of these links we are able to control the position 1 of the gripper.
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Singular configurations of structural systems

International Journal of Solids and Structures, 1999
zbMATH Open Web Interface contents unavailable due to conflicting licenses.
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Enumeration of Singular Configurations for Robotic Manipulators

Journal of Mechanical Design, 1991
Kinematic singularities are important considerations in the design and control of robotic manipulators. For six degree-of-freedom manipulators, the vanishing of the determinant of the Jacobian yields the conditions for the primary singularities. Examining the vanishing of the minors of the Jacobian yields further singularities which are special cases ...
H. Lipkin, E. Pohl
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