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TECHNICAL PAPERS

Feasible Motion Solutions for Serial Manipulators at Singular Configurations

[+] Author and Article Information
Yuefa Fang

Department of Mechanical Engineering, Northern Jiaotong University, Beijing, 100044 PR Chinae-mail: yffang@center.njtu.edu.cn

Lung-Wen Tsai

Department of Mechanical Engineering, Bourns College of Engineering, University of California, Riverside, CA 92521

J. Mech. Des 125(1), 61-69 (Mar 21, 2003) (9 pages) doi:10.1115/1.1543976 History: Received February 01, 2002; Revised July 01, 2002; Online March 21, 2003
Copyright © 2003 by ASME
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References

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Collins,  C. L., and Long,  G. L., 1995, “The Singularity Analysis of an In-Parallel Hand Controller for Force-Reflected Teleoperation,” IEEE Trans. Rob. Autom., 11(5), pp. 661–669.
Hao,  F., and McCarthy,  J. M., 1998, “Conditions for Line-Based Singularities in Spatial Platform Manipulators,” J. Rob. Syst., 15(1), pp. 43–55.
Craig, John 1989, Introduction to Robotics, Mechanics and Control, 2nd Ed., Addison-Wesley, Reading, MA.
Tsai, L. W. 1999, Robot Analysis: The Mechanics Of Serial And Parallel Manipulators, John Wiley & Sons, Inc, New York.

Figures

Grahic Jump Location
Singular configurations of the PUMA-type robot
Grahic Jump Location
Multi-singular configurations of the PUMA-type robot
Grahic Jump Location
A trajectory tracking task
Grahic Jump Location
Simulated manipulator configurations
Grahic Jump Location
Manipulator joint angles and joint rates (a) Joint angles (relative to initial positions) vs. time (b) Joint rates vs. time

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