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


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
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