SINGULARITY ANALYSIS OF CLOSED-LOOP KINEMATIC CHAINS

被引：1304

作者：

GOSSELIN, C ^{[1
]}

ANGELES, J ^{[1
]}

机构：

[1] MCGILL UNIV, MCGILL RES CTR INTELLIGENT MACHINES, MONTREAL H3A 2K6, QUEBEC, CANADA

来源：

IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION | 1990年 / 6卷 / 03期

关键词：

D O I：

10.1109/70.56660

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper presents an analysis of the different kinds of singularities encountered in closed-loop kinematic chains. A general classification of these singularities in three main groups, which is based on the properties of the Jacobian matrices of the chain, is described. The identification of the singular configurations is particularly relevant for hard automation modules or robotic devices based on closed kinematic chains, such as linkages and parallel manipulators. Examples are given to illustrate the application of the method to these mechanical systems. © 1990 IEEE

引用

页码：281 / 290

页数：10

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