Title :
Higher order singularities of regional manipulators
Author :
Smith, David R. ; Lipkin, Harvey
Author_Institution :
Dept. of Mech. Eng., Massachusetts Univ., Lowell, MA
Abstract :
The conics method is applied to an analysis of the workspace of a 3R regional manipulator. Specifically, the boundary curve of the workspace is investigated. For the 3R manipulator, it is demonstrated that higher-order root multiplicities of the inverse kinematics correspond to singular points of the workspace region boundary curve. An example of such a point is given
Keywords :
inverse problems; kinematics; manipulators; polynomials; 3R regional manipulator; boundary curve; conics method; higher order singularities; higher-order root multiplicities; industrial manipulator; inverse kinematics; workspace; Character generation; Equations; Manipulators; Mechanical engineering; Polynomials; Robot kinematics; Service robots; Symmetric matrices; Topology; Wrist;
Conference_Titel :
Robotics and Automation, 1993. Proceedings., 1993 IEEE International Conference on
Conference_Location :
Atlanta, GA
Print_ISBN :
0-8186-3450-2
DOI :
10.1109/ROBOT.1993.291982
