A practical procedure to analyze singular configurations in closed kinematic chains

被引：38

作者：

Altuzarra, O ^{[1
]}

Pinto, C ^{[1
]}

Avilés, R ^{[1
]}

Hernández, A ^{[1
]}

机构：

[1] Univ Basque Country, Sch Engn, Dept Mech Engn, Bilbao 48013, Spain

来源：

IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION | 2004年 / 20卷 / 06期

关键词：

constraint singularity; geometric matrix; parallel manipulators; singular configurations; velocity equation;

D O I：

10.1109/TRO.2004.832798

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

The authors present a general method for the automated singularity analysis of any mechanism at a given configuration. The procedure uses a base of the motion space. This is obtained from a velocity equation characterized by a geometric matrix. This special form of Jacobian matrix has some advantages for automatic implementation. This approach provides the degree of freedom associated with the singularity, uncontrolled motion, and kinematic dependencies. It also facilitates the choice of actuators and redundant devices. The method has been implemented in a computer program for kinematic analysis.

引用

页码：929 / 940

页数：12

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