Abstract
Recent developments in manipulator kinematics have led to the designs of singularity-free pointing systems, wrist-subassemblies, and both spherical and articulated arm-subassemblies. Determining a proper kinematic constraint for the joints of these redundant systems differs from simply ensuring the pointing subsystem is singularity-free. In this paper two different constraints of a redundant articulated arm-subassembly are compared: gone constraint removes the singularities of the pointing subsystem and the second involves the three degree-of-freedom motion of the entire subassembly. It is shown that the constraint which eliminates the singularities of the pointing subsystem fails to produce a singularity-free articulated arm-subassembly, and this constraint must be modified to include the effects of the elbow rotation.
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© 1994 Springer Science+Business Media Dordrecht
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Remis, S.J., Stanišić, M.M. (1994). A Comparison of Two Minimally-Singular Articulated Arm-Subassemblies. 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_35
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DOI: https://doi.org/10.1007/978-94-015-8348-0_35
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