Journal article
Singularities of manipulators with non-unilateral constraints
Robotica, Vol.23(5), pp.543-553
09/2005
DOI: 10.1017/S0263574704001262
Abstract
An analytical method is presented to obtain all surfaces enveloping the workspace of a general n degree-of-freedom mechanism with non-unilateral constraints. The method is applicable to kinematic chains that can be modeled using the Denavit-Hartenberg representation method for serial kinematic chains or its modification for closed-loop kinematic chains. The method developed is based upon analytical criteria for determining singular behavior of the mechanism. Singularities of manipulators with non-unilateral constraints have never been reported. The complete mathematical formulation is presented and illustrated using 4 & 5 DOF spatial manipulators. Four types of singularities are classified: Type I sets are position Jacobian singularities; Type II sets are instantaneous singularities that are due to a generalized joint are reaching its apex; Type III sets are domain boundary singularities, which are associated with the time initial and final values of the time interval; Type IV sets are coupled singularities, which are associated with a relative singular Jacobian, where the null space is reduced in one submatrix due to either of two occurrences: a Type II and Type III singularities.
Details
- Title: Subtitle
- Singularities of manipulators with non-unilateral constraints
- Creators
- Jingzhou Yang - US Army Virtual Soldier Research Program, Center for Computer-Aided Design, The University of Iowa, 111 Engineering Research Facility, Iowa City, IA 52242-1000 (USA)Karim Abdel-Malek - US Army Virtual Soldier Research Program, Center for Computer-Aided Design, The University of Iowa, 111 Engineering Research Facility, Iowa City, IA 52242-1000 (USA)
- Resource Type
- Journal article
- Publication Details
- Robotica, Vol.23(5), pp.543-553
- Publisher
- Cambridge University Press; Cambridge, UK
- DOI
- 10.1017/S0263574704001262
- ISSN
- 0263-5747
- eISSN
- 1469-8668
- Number of pages
- 11
- Language
- English
- Date published
- 09/2005
- Academic Unit
- Roy J. Carver Department of Biomedical Engineering; Mechanical Engineering
- Record Identifier
- 9984064116002771
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