Title :
An analysis to the singularity of serial manipulators using the theory of reciprocal screw
Author :
Yu-Che Chen ; Chen, C. L Philip
Author_Institution :
Dept. of Mech. Eng., Tulsa Univ., OK, USA
Abstract :
In this paper, we present new properties of reciprocal screws and use these properties to investigate singular configurations of 6R serial mechanisms. Similarities between the statics of objects under six external forces and the instantaneous kinematics of 6R serial mechanisms are also demonstrated using the same method. Previous results on the linear dependency of two and three screws are verified as special cases of our generalized method which deals with the linear dependency of four to six screws
Keywords :
computational geometry; control system analysis; force control; manipulator kinematics; matrix algebra; 6R serial mechanisms; Plucker line coordinates; external forces; kinematic geometry; kinematics; linear dependency; reciprocal screw theory; serial manipulators; singularity analysis; Angular velocity; End effectors; Equations; Fasteners; Jacobian matrices; Kinematics; Manipulators; Mechanical engineering; Mechanical factors; Robots;
Conference_Titel :
Systems, Man, and Cybernetics, 1994. Humans, Information and Technology., 1994 IEEE International Conference on
Conference_Location :
San Antonio, TX
Print_ISBN :
0-7803-2129-4
DOI :
10.1109/ICSMC.1994.399827
