Analysis of Singular Configuration of Robotic Manipulators

Analysis of Singular Configuration of Robotic Manipulators

Robotic manipulators inevitably encounter singular configurations in the process of movement, which seriously affects their performance. Therefore, the identification of singular configurations is extremely important. However, serial manipulators that do not meet the Pieper criterion cannot obtain s...

Full description

Bibliographic Details
Main Authors: Xinglei Zhang, Binghui Fan, Chuanjiang Wang, Xiaolin Cheng
Format: Article
Language:English
Published: MDPI AG 2021-09-01
Series:Electronics
Subjects:
Pieper criterion
Jacobian matrix
singular configurations
manipulability measure
condition number
Online Access:https://www.mdpi.com/2079-9292/10/18/2189

Internet

https://www.mdpi.com/2079-9292/10/18/2189

Similar Items