DocumentCode
1402271
Title
Singularity analysis of closed-loop kinematic chains
Author
Gosselin, Clement ; Angeles, Jorge
Author_Institution
McGill Univ., Montreal, Que., Canada
Volume
6
Issue
3
fYear
1990
fDate
6/1/1990 12:00:00 AM
Firstpage
281
Lastpage
290
Abstract
The different kinds of singularities encountered in closed-loop kinematics chains are analyzed. A general classification of these singularities in three main groups, which is based on the properties of the Jacobian matrices of the chain, is described. The identification of the singular configurations is particularly relevant for hard automation modules or robotic devices based on closed kinematic chains, such as linkages and parallel manipulators. Examples are given to illustrate the application of the method to these mechanical systems
Keywords
closed loop systems; kinematics; matrix algebra; robots; Jacobian matrices; automation modules; closed-loop kinematic chains; linkages; mechanical systems; parallel manipulators; robotic; singularities; Councils; Couplings; Helium; Jacobian matrices; Kinematics; Machine intelligence; Manipulators; Mechanical systems; Parallel robots; Robotics and automation;
fLanguage
English
Journal_Title
Robotics and Automation, IEEE Transactions on
Publisher
ieee
ISSN
1042-296X
Type
jour
DOI
10.1109/70.56660
Filename
56660
Link To Document