Abstract
Some non redundant robot manipulators have the unusual ability to change posture without meeting a singularity. In this paper, several conditions are stated for classifying manipulators geometry. As a result, a list of 3-DOF singular posture changing manipulators geometries is provided. Both revolute and prismatic joints are considered in the analysis. In the end of the paper, the study is enlarged to the case of 6-DOF manipulators.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Preview
Unable to display preview. Download preview PDF.
References
Borrel P. and Liegeois A., “A Study of Manipulator Inverse Kinematic Solutions with Application to Trajectory Planning and Workspace Determination, Proc. IEEE Int. Conf. Rob. and Aut., pp1180–1185, 1986.
Parenti C.V. and Innocenti C., “Position Analysis of Robot Manipulator: Regions and Subregions”, Advances in Robot Kinematics, pp 150–158, Ljubljana, Yug., 1988.
Burdick J. W., “Kinematic Analysis and Design of Redundant Manipulators”, PhD thesis, Stanford University, 1988.
Wenger P., “A New General Formalism for the Kinematic Analysis of all Nonredundant manipulators”, IEEE Conf. on Rob. and Aut.,1992, pp 442–447., Nice, France.
Burdick J. W., “A Classification of 3R Regional Manipulator Singularities and Geometries”, Proc. IEEE Int. Conf. on Rob. and Aut., pp 2670–2675, Sacramento, California, 1991.
Pal D.K., “Generic Singularities of Robot Manipulators”, Proc. IEEE Conf. on Rob. and Aut., pp 738–744, 1989.
Kholi D. and Hsu M.S., “The Jacobian Analysis of Workspaces of Mechanical Manipulators”, Journal of Mechanisms and Machine Theory, Vol 22, No 3, pp 265–275, 1987.
Khalil W., Kleinfinger J.F., “A New Geometric Notation for Open and Closed Loop Robots”, Proc. IEEE Conf. on Robotics and Automation,p: 1174–1179, 1986.
Bennis F., “Contribution to the Geometric and Dynamic Modelling of Robots with Simple and Complex Structure” (in french), PhD Thesis, University of Nantes, France, January 1991.
Khalil W., Bennis F., Chevallereau C., Kleinfinger J.F., “SYMORO: a Software Package for the Symbolic Modelling of Robots”, 20th Int. Symp. on ind. Robots, Tokyo (Japan),1989.
Tourassis V. D. and Mg M. H., “Identification and Analysis of Robot Manipulator Singularities”, The Int. Journ. of Robtics Research, Vol. 11, No. 3, June 1992, pp 248–259.
Author information
Authors and Affiliations
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 1994 Springer Science+Business Media Dordrecht
About this chapter
Cite this chapter
Wenger, P., El Omri, J. (1994). On the Kinematics of Nonsingular and Singular Posture Changing Manipulators. In: Lenarčič, J., Ravani, B. (eds) Advances in Robot Kinematics and Computational Geometry. Springer, Dordrecht. https://doi.org/10.1007/978-94-015-8348-0_3
Download citation
DOI: https://doi.org/10.1007/978-94-015-8348-0_3
Publisher Name: Springer, Dordrecht
Print ISBN: 978-90-481-4434-1
Online ISBN: 978-94-015-8348-0
eBook Packages: Springer Book Archive