A Geometrical Characterization of Workspace Singularities in 3R Manipulators

被引：7
|
作者：
Husty, M. [1 ]
Ottaviano, E. [2 ]
Ceccarelli, M. [2 ]
机构：
[1] Univ Innsbruck, Inst Basic Sci Engn, A-6020 Innsbruck, Austria
[2] Univ Cassino, LARM, DiMSAT, Lab Robot & Mechatron, I-03043 Cassino, Italy
来源：
ADVANCES IN ROBOT KINEMATICS: ANALYSIS AND DESIGN | 2008年
关键词：
serial manipulators; workspace; singularities; level set; posture change;
D O I：
10.1007/978-1-4020-8600-7_43
中图分类号：
TP24 [机器人技术];
学科分类号：
080202 ; 1405 ;
摘要：
In this paper we present an algorithm, based on a level set representation of a cross-section of the Cartesian workspace of 3R regional manipulators, which is useful to show clearly the nature of the cusps and double points on the boundary. Furthermore it is shown that singularities of the level set surface (graph of the level set) characterize non-generic manipulators and we demonstrate the non-singular posture change ability of cuspidal manipulators with help of the level set surface.
引用
收藏
页码：411 / +
页数：2
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