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A geometric approach to the design of a singularity-free articulated arm-subassembly

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2 Author(s)
Remis, S.J. ; Yoder Software Inc., South Bend, IN, USA ; Stanisic, M.M.

Previously a reduced Jacobian method was used to constrain a redundant articulated arm-subassembly resulting in a complete workspace without singularities. This paper presents a purely geometric solution to the same problem, and shows that a geometric analysis of singular configurations quickly provides necessary conditions which any singularity elimination algorithm must meet. Sufficiency of the candidate algorithm is established by direct analysis

Published in:

Robotics and Automation, 1994. Proceedings., 1994 IEEE International Conference on

Date of Conference:

8-13 May 1994

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