Singularities of Serial Robots: Identification and Distance Computation Using Geometric Algebra

Singularities of Serial Robots: Identification and Distance Computation Using Geometric Algebra

The singularities of serial robotic manipulators are those configurations in which the robot loses the ability to move in at least one direction. Hence, their identification is fundamental to enhance the performance of current control and motion planning strategies. While classical approaches entail...

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Bibliographic Details
Main Authors: Isiah Zaplana, Hugo Hadfield, Joan Lasenby
Format: Article
Language:English
Published: MDPI AG 2022-06-01
Series:Mathematics
Subjects:
serial robotic manipulators
singularity identification
geometric algebra
rotor group
distance to a singularity
Online Access:https://www.mdpi.com/2227-7390/10/12/2068

Internet

https://www.mdpi.com/2227-7390/10/12/2068

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