Guaranteed Detection of the Singularities of 3R Robotic Manipulators

  • Romain BenoitEmail author
  • Nicolas Delanoue
  • Sébastien Lagrange
  • Philippe Wenger
Conference paper
Part of the Mechanisms and Machine Science book series (Mechan. Machine Science, volume 24)


The design of new manipulators requires the knowledge of their kinematic behaviour. Important kinematic properties can be characterized by the determination of certain points of interest. Important points of interest are cusps and nodes, which are special singular points responsible for the non-singular posture changing ability and for the existence of voids in the workspace, respectively. In practice, numerical errors should be properly tackled when calculating these points. This paper proposes an interval analysis based approach for the design of a numerical algorithm that finds enclosures of points of interest in the workspace and joint space of the studied robot. The algorithm is applied on 3R manipulators with mutually orthogonal joint axes.


Interval analysis Singular points 3R Robot Cusp Node 


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Copyright information

© Springer International Publishing Switzerland 2015

Authors and Affiliations

  • Romain Benoit
    • 1
    Email author
  • Nicolas Delanoue
    • 1
  • Sébastien Lagrange
    • 1
  • Philippe Wenger
    • 2
  1. 1.LARISAngersFrance
  2. 2.Institut de Recherche en Communications et Cybernétique de NantesNantes cedex 03France

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