Special configurations of robot-arms via screw theory
Author:
- 1 July 1986
- journal article
- research article
- Published by Cambridge University Press (CUP) in Robotica
- Vol. 4 (3) , 171-179
Abstract
SUMMARY: The Jacobian of serial robot-arms is examined, and the matrix of cofactors of a singular Jacobian is presented as a means of explaining the physical nature of special configurations. Because the columns of both these matrices are screw coordinates, screw theory is central to proper understanding. ‘Realistic’ robot-arms are seen to behave in ways that can be explained not by particularizing from a general formulation but rather by carefully interpreting the relevant special screw systems from the outset. Higher singularities (with more than one freedom-loss) are then touched upon.Keywords
This publication has 3 references indexed in Scilit:
- A Study of the Jacobian Matrix of Serial ManipulatorsJournal of Mechanical Design, 1985
- Special configurations of spatial mechanisms and robot armsMechanism and Machine Theory, 1982
- Application of Line geometry to theoretical kinematics and the kinematic analysis of mechanical systemsJournal of Mechanisms, 1970