Generic Singularities of Robot Manipulators

Abstract

The singularities of the differential kinematic map, i. e., of the manipulator Jacobian, are considered. We first examine the notion of a generic kinematic map, whose singularities form smooth manifolds of prescribed dimension in the joint space of the manipulator. For 3-joint robots, an equivalent condition for genericity using determinants is derived. The condition lends itself to symbolic computation and is sufficient for the study of decoupled manipulators, i.e., manipulators which can be separated into a 3-joint translating part and a 3-joint orienting part. The results are illustrated by analyzing the singularities of two classes of 3-joint positioning robots. Keywords: Generic mapping; Differential topology.

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Document Details

Document Type
Technical Report
Publication Date
Jan 01, 1988
Accession Number
ADA210116

Entities

People

  • Dinesh K. Pai
  • M. C. Leu

Organizations

  • Cornell University

Tags

Communities of Interest

  • Autonomy
  • Space

DTIC Thesaurus Topics

  • Computer Science
  • Control
  • Decoupling
  • Differential Topology
  • Kinematics
  • Manipulators
  • Motion Planning
  • New Jersey
  • Orientation (Direction)
  • Robots
  • Rotation
  • Standards
  • Three Dimensional
  • Topology
  • Translations
  • Vector Spaces

Readers

  • Control Systems Engineering.
  • Graph Algorithms and Convex Optimization.
  • Robotics and Automation.

Technology Areas

  • AI & ML
  • AI & ML - Autonomous Systems
  • AI & ML - Machine Learning Algorithms
  • Autonomy
  • Space
  • Space - Spacecraft Maneuvers