Multi-body singularity equations
This technical report explains how to obtain a system of equations that encodes the singularities of a multi-body system with respect to some of its configuration variables. The system is obtained in a way that makes it appropiate for the CUIK software.
| Authors: | , |
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| Format: | report |
| Publication Date: | 2010 |
| Country: | España |
| Institution: | Universitat Politècnica de Catalunya (UPC) |
| Repository: | UPCommons. Portal del coneixement obert de la UPC |
| Language: | English |
| OAI Identifier: | oai:upcommons.upc.edu:2117/7502 |
| Online Access: | https://hdl.handle.net/2117/7502 |
| Access Level: | Open access |
| Keyword: | Robots--Kinematics Manipulators (Mechanism) Singularities Multi-body CUIK Robots -- Cinemàtica -- Models matemàtics Classificació INSPEC::Automation::Robots::Manipulators Classificació INSPEC::Automation::Robots::Robot kinematics Àrees temàtiques de la UPC::Informàtica::Robòtica |
| Summary: | This technical report explains how to obtain a system of equations that encodes the singularities of a multi-body system with respect to some of its configuration variables. The system is obtained in a way that makes it appropiate for the CUIK software. |
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