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Classification of singular configurations for redundant manipulators

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1 Author(s)
Bedrossian, N.S. ; Charles Stark Draper Lab. Inc., Cambridge, MA, USA

A general methodology is presented for the singularity analysis of kinematically redundant manipulators. The singular configurations are classified based on the possibility of reconfiguration into a nonsingular posture using self-motion. A procedure is presented to test for the possibility of self-motion at a singular configuration. Necessary and sufficient conditions for admissible tangent vectors at the singular configuration are presented, as well as a method to construct such vectors. Sufficient conditions are derived for instances when the singular system can be reconfigured into a nonsingular state by displacements along the admissible null vectors

Published in:

Robotics and Automation, 1990. Proceedings., 1990 IEEE International Conference on

Date of Conference:

13-18 May 1990