IEEE - Institute of Electrical and Electronics Engineers, Inc. - Inertia matrix singularity of planar series-chain manipulators

Author(s): Agrawal, S.K.
Publisher: IEEE - Institute of Electrical and Electronics Engineers, Inc.
Publication Date: 1 January 1991
Conference Location: Sacramento, CA, USA
Conference Date: 9 April 1991
ISBN (Paper): 0-8186-2163-X
DOI: 10.1109/ROBOT.1991.131561
Regular:

For series chain manipulators whose links are modeled as point masses, there is a multitude of configurations in which the inertia matrix is singular. Intuitively, it is expected that these... View More

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