Name
Abstract | ||
|---|---|---|
The general methods of singularity analysis of a general parallel manipulator are not suitable for that of a redundant parallel manipulator, thereby This work presents a method for the identification of the singularities of redundant parallel manipulators. Firstly, the theory of singular value decomposition is employed to analyze the velocity equation of a mechanism, and the relationship between the generalized input velocities and the generalized output velocities is researched. Then the physical interpretation of the singularity of a redundant parallel manipulator is discussed, and the relationship between the singularity and the singularity values of the Jacobian matrix of a mechanism is studied. Finally, based on above analysis, the singularities of a redundant manipulator are divided into three basic types and a method for computing the singularity set is presented and formulated. As an example, a 3 degree-of-freedom redundant manipulator is researched through using this method, and all the singular configurations of this manipulator are found out and pictured. |
Year | DOI | Venue |
|---|---|---|
2004 | 10.1109/ICSMC.2004.1401192 | SMC (5) |
Keywords | DocType | Volume |
singularity analysis,redundant parallel manipulators,parallel manipulator,redundancy,manipulators,jacobian matrix,mechanism velocity equation,jacobian matrices,singularity,singular value decomposition,degree of freedom,singular value | Conference | 5 |
ISSN | ISBN | Citations |
1062-922X | 0-7803-8566-7 | 2 |
PageRank | References | Authors |
0.47 | 1 | 3 |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Hengbin Liao | 1 | 2 | 0.47 |
| Tiemin Li | 2 | 45 | 7.58 |
| Xiaoqiang Tang | 3 | 11 | 6.81 |