IEEE - Institute of Electrical and Electronics Engineers, Inc. - A recursive method for finding revolute-jointed manipulator singularities

Author(s): Burdick, J.W.
Publisher: IEEE - Institute of Electrical and Electronics Engineers, Inc.
Publication Date: 1 January 1992
Conference Location: Nice, France, France
Conference Date: 12 May 1992
ISBN (Paper): 0-8186-2720-4
DOI: 10.1109/ROBOT.1992.220299
Regular:

A geometric application of screw theory is used to develop a recursive algorithm for computing all singular configurations of revolute-jointed manipulators with arbitrary geometry and an arbitrary... View More

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