Results 251 to 260 of about 80,117 (291)

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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Singularities of the nodal set of segregated configurations

Calculus of Variations and Partial Differential Equations, 2015
This study is motivated by the segregating behaviour, that is \(u_{i,\kappa} u_{j,\kappa} \to 0\) as \(\kappa \to + \infty\) (\(i\neq j\)), of uniformly bounded solutions to the singularly perturbed elliptic system \( -\Delta u_i=f_i(u_i)-\kappa u_i \sum_{j\neq i}g_{ij}(u_j),\) \(u_i\geq 0\), in an open, bounded smooth domain of \(\mathbb{R}^n\) (\(n ...
Zhang, Shan, Liu, Zuhan
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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 position1 of the gripper. In general, for a given set of links lengths there is only one position for the gripper.
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Elastic Analysis of Cylindrical Configurations With Stress Singularities

Journal of Applied Mechanics, 1972
The problem of stress analysis of a circular cylinder is considered under conditions which give rise to stress singularities. Such stresses can be produced by circular boundary discontinuities or when boundaries are subject to mixed displacement and force conditions. General solutions are obtained using transformation of the cylindrical coordinates and
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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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