Abstract
A generic, or more properly 1-generic, serial manipulator is one whose forward kinematic mapping exhibits singularities of given rank in a regular way. In this paper, the product-of-exponentials formulation of a kinematic mapping together with the Baker-Campbell-Hausdorff formula for Lie groups is used to derive an algebraic condition for the regularity.
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Donelan, P. (2008). Genericity Conditions for Serial Manipulators. In: Lenarčič, J., Wenger, P. (eds) Advances in Robot Kinematics: Analysis and Design. Springer, Dordrecht. https://doi.org/10.1007/978-1-4020-8600-7_20
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DOI: https://doi.org/10.1007/978-1-4020-8600-7_20
Publisher Name: Springer, Dordrecht
Print ISBN: 978-1-4020-8599-4
Online ISBN: 978-1-4020-8600-7
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