online read us now
Paper details
Number 2 - June 1995
Volume 5 - 1995
Normal forms of kinematic singularities of 3R robot manipulators
Krzysztof Tchoń
Abstract
Using the singularity theory approach we study kinematic singularities of 3R robot manipulators satisfying certain geometric conditions. A classification of singular configurations is set forth and three mathematical models (normal forms) of the kinematics around singular configurations are derived.
Keywords
-