Abstract
We study the kinematics of robotic manipulators around singular configurations of Corank 1. Sufficient conditions are derived under which the kinematics become equivalent to a hyperbolic normal form. These conditions are illustrated with examples of nonredundant and redundant manipulator kinematics. New normal forms provide a better understanding of the singular behavior of robotic manipulators and are instrumental in solving the singular inverse kinematic problem within the normal form approach.
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Disclaimer: 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.