SINGULARITIES ANALYSIS OF REDUNDANT ROBOT MANIPULATOR

›› 2000, Vol. 36 ›› Issue (9): 33-36.

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SINGULARITIES ANALYSIS OF REDUNDANT ROBOT MANIPULATOR

Chou Wusheng;Wang Tianmiao;Zhang Qixian;Wu Zhong

Beijing University of Aeronautics and Astronautics China Academy of Railway Science

Published:2000-09-15

Abstract

Abstract: The singularities of manipulator as a base of the design of manipulator’s structure and control algorithms are analyzed. Defining the concept of null motion differential dynamic system, the local topology and avoidability of redundant manipulator’s singularities are studied. A new determination method for the avoidability of redundant manipulator’s singularities is proposes, and it is suitable for manipulators with any redundant degree.

Key words: Dynamic system, Null motion Differential, Redundant manipulator, Singularity avoidability

CLC Number:

TG241

Chou Wusheng;Wang Tianmiao;Zhang Qixian;Wu Zhong. SINGULARITIES ANALYSIS OF REDUNDANT ROBOT MANIPULATOR[J]. , 2000, 36(9): 33-36.

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SINGULARITIES ANALYSIS OF REDUNDANT ROBOT MANIPULATOR

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