IEEE - Institute of Electrical and Electronics Engineers, Inc. - Identifying the singularity conditions of Canadarm2 based on elementary Jacobian transformation

2013 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2013)

Author(s): Wenfu Xu ; Jintao Zhang ; Huihuan Qian ; Yongquan Chen ; Yangsheng Xu
Sponsor(s): IEEE Ind. Electron. Soc.
Publisher: IEEE - Institute of Electrical and Electronics Engineers, Inc.
Publication Date: 1 November 2013
Conference Location: Tokyo, Japan
Conference Date: 3 November 2013
Page(s): 795 - 800
ISSN (Paper): 2153-0858
DOI: 10.1109/IROS.2013.6696442
Regular:

The Canadarm2, also named Space Station Remote Manipulator System (SSRMS), is a 7-joint redundant manipulator. Without spherical wrists, the singularity analysis and avoidance of these... View More

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