0
RESEARCH PAPERS

A Recursive Method for Finding Revolute-Jointed Manipulator Singularities

[+] Author and Article Information
J. W. Burdick

Dept. of Mechanical Engineering, California Institute of Technology, Pasadena, CA 91125

J. Mech. Des 117(1), 55-63 (Mar 01, 1995) (9 pages) doi:10.1115/1.2826117 History: Received June 01, 1992; Revised August 01, 1993; Online January 25, 2008

Abstract

A geometric application of screw theory is used to develop a recursive algorithm for computing all singular configurations of revolute-jointed manipulators with arbitrary link geometries and an arbitrary number of joints. The depth of the recursion is linear in the number of joints, n, while the computational burden is proportional to 2n−2 . This method does not require explicit construction of the Jacobian matrix elements or a determinant operation. The method is also robust with respect to the bifurcations that occur for industrial robot geometries. Further, the screw axis of the singular motion is determined at no additional cost.

Copyright © 1995 by The American Society of Mechanical Engineers
Your Session has timed out. Please sign back in to continue.

References

Figures

Tables

Errata

Discussions

Some tools below are only available to our subscribers or users with an online account.

Related Content

Customize your page view by dragging and repositioning the boxes below.

Related Journal Articles
Related eBook Content
Topic Collections

Sorry! You do not have access to this content. For assistance or to subscribe, please contact us:

  • TELEPHONE: 1-800-843-2763 (Toll-free in the USA)
  • EMAIL: asmedigitalcollection@asme.org
Sign In