Singularity-theoretic methods in robot kinematics

被引：34
作者：
Donelan, P. S. [1 ]
机构：
[1] Victoria Univ Wellington, Sch Math Stat & Comp Sci, Wellington, New Zealand
来源：
ROBOTICA | 2007年 / 25卷 / 641-659期
关键词：
singularity theory; robot manipulator; transversality; lie group; genericity; screw systems;
D O I：
10.1017/S0263574707003748
中图分类号：
TP24 [机器人技术];
学科分类号：
080202 ; 1405 ;
摘要：
The significance of singularities in the design and control of robot manipulators is well known, and there is an extensive literature on the determination and analysis of singularities for a wide variety of serial and parallel manipulators-indeed such an analysis is an essential part of manipulator design. Singularity theory provides methodologies for a deeper analysis with the aim of classifying singularities, providing local models and local and global invariants. This paper surveys applications of singularity-theoretic methods in robot kinematics and presents some new results.
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收藏
页码：641 / 659
页数：19
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