Abstract
Two methods for finding velocity-degenerate (singular) configurations of joint-redundant manipulators are presented. The first method is based on reciprocity of screws. The second method is based on concurrency of zero 6×6 sub-matrix determinants of the Jacobian J. For spatial manipulators with more than seven joints, it is concluded that the reciprocity-based method is more appropriate. An example is presented to demonstrate both methods.
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© 2000 Springer Science+Business Media Dordrecht
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Nokleby, S.B., Podhorodeski, R.P. (2000). Methods for Resolving Velocity Degeneracies of Joint-Redundant Manipulators. In: Lenarčič, J., Stanišić, M.M. (eds) Advances in Robot Kinematics. Springer, Dordrecht. https://doi.org/10.1007/978-94-011-4120-8_23
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DOI: https://doi.org/10.1007/978-94-011-4120-8_23
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