Simplifying Some Characteristics of Manipulators Based on Features of Their Models

  • Ignacy DulebaEmail author
  • Iwona Karcz-Duleba
Conference paper
Part of the Lecture Notes in Computer Science book series (LNCS, volume 10672)


In this paper a method to simply computations of singular configurations of redundant and nonredundant manipulators was presented. Theoretical and numerical aspects of the method were given. Illustrating examples were carried out on models of planar pendula. The method can be also applied to simplify computations of manipulators’ dynamics.



The research was supported by WUST within grant no. 0401/0209/16.


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Copyright information

© Springer International Publishing AG 2018

Authors and Affiliations

  1. 1.Electronics FacultyWroclaw University of TechnologyWroclawPoland

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