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Advantages of Singular Configurations in Robot Motion
Advantages of Singular Configurations in Robot Motionopenaire +1 more source
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.
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Identification and Classification of the Singular Configurations of Mechanisms
Mechanism and Machine Theory, 1995zbMATH Open Web Interface contents unavailable due to conflicting licenses.
ZLATANOV, DIMITER +2 more
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Controllability issues of robots in singular configurations
Proceedings. 1991 IEEE International Conference on Robotics and Automation, 2002Examples are given that modify some oversimplified statements usually made about the motion of robots in singular configurations. A robot may be controlled in an arbitrary direction from a singular configuration if the velocity profiles are shaped in a proper way.
Lars Nielsen +2 more
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Dynamic singular configuration of flexible manipulators
Proceedings. 2000 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2000) (Cat. No.00CH37113), 2002In 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, 1986A 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. +3 more
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Singular configurations and workspace of robots
Robotics and Autonomous Systems, 1988Abstract 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), 2018Control 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 +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, 2008In 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 +3 more
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Superhyperbolic expansion, noncollision singularities and symmetry configurations
Celestial Mechanics & Dynamical Astronomy, 1994zbMATH Open Web Interface contents unavailable due to conflicting licenses.
Saari, Donald G., Diacu, Florin N.
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