Abstract
A general methodology for the classification of kinematically redundant spatial manipulator singular configurations is presented. The singular configurations are classified based on the possibility of reconfiguration into a nonsingular posture using self-motion. For one degree-of-freedom redundancy manipulators, an alignment condition is introduced, and methods from dynamical systems analysis and the center manifold theorem are used to characterize singularities. >
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
