IEEE - Institute of Electrical and Electronics Engineers, Inc. - Characterizing spatial redundant manipulator singularities

Author(s): Bedrossian, N.S. ; Flueckiger, 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.1991.131668
Regular:

A general methodology for the classification of kinematically redundant spatial manipulator singular configurations is presented. The singular configurations are classified based on the... View More

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