A CLASSIFICATION OF 3R REGIONAL MANIPULATOR SINGULARITIES AND GEOMETRIES

被引：48

作者：

BURDICK, JW

机构：

[1] Department of Mechanical Engineering, Mail Code 104-44, California Institute of Technology, Pasadena

来源：

MECHANISM AND MACHINE THEORY | 1995年 / 30卷 / 01期

关键词：

D O I：

10.1016/0094-114X(94)00043-K

中图分类号：

TH [机械、仪表工业];

学科分类号：

0802 ;

摘要：

Using a novel geometric factorization of the singularity set, this paper enumerates all non-generic 3R manipulator geometries. These geometries divide the space of all 3R manipulator geometries into disjoint sets which have similar topological properties. Their enumeration serves as a classification scheme for all 3R manipulators. Some preliminary conjectures on 3R manipulators which can or can not change pose without passing through a singular configuration are presented as one application of these results.

引用

页码：71 / 89

页数：19