On the Robot Singularity: A Novel Geometric Approach
This paper addresses a novel geometric analysis method of the singularity and kinestatic characteristics of robots. For non-redundant robots, there exist two uniquely determined Jacobians – the screw-based Jacobian and the reciprocal Jacobian. Here, it is shown that if some of the reciprocal product...
| Main Author: | |
|---|---|
| Format: | Article |
| Language: | English |
| Published: |
SAGE Publishing
2012-11-01
|
| Series: | International Journal of Advanced Robotic Systems |
| Online Access: | https://doi.org/10.5772/53779 |