Singularities of non-redundant manipulators: a short account and a method for their computation in the planar case

The study of the singularity set is of utmost utility in understanding the local and global behavior of a manipulator. After reviewing the mathematical conditions that characterize this set, and their kinematic and geometric interpretation, this paper shows how these conditions can be formulated in...

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Autores: Bohigas Nadal, Oriol, Manubens Ferriol, Montserrat, Ros Giralt, Lluís|||0000-0002-8338-6062
Tipo de recurso: artículo
Fecha de publicación:2013
País:España
Institución:Universitat Politècnica de Catalunya (UPC)
Repositorio:UPCommons. Portal del coneixement obert de la UPC
Idioma:inglés
OAI Identifier:oai:upcommons.upc.edu:2117/22508
Acceso en línea:https://hdl.handle.net/2117/22508
Access Level:acceso abierto
Palabra clave:Robots -- Dynamics
manipulators robot kinematics PARAULES AUTOR: singularity set
planar manipulator
forward singularity
inverse singularity
box approximation
branch-and-prune method
Robots -- Dinàmica
Classificació INSPEC::Automation::Robots::Robot kinematics
Àrees temàtiques de la UPC::Informàtica::Robòtica
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spelling Singularities of non-redundant manipulators: a short account and a method for their computation in the planar caseBohigas Nadal, OriolManubens Ferriol, MontserratRos Giralt, Lluís|||0000-0002-8338-6062Robots -- Dynamicsmanipulators robot kinematics PARAULES AUTOR: singularity setplanar manipulatorforward singularityinverse singularitybox approximationbranch-and-prune methodRobots -- DinàmicaClassificació INSPEC::Automation::Robots::Robot kinematicsÀrees temàtiques de la UPC::Informàtica::RobòticaThe study of the singularity set is of utmost utility in understanding the local and global behavior of a manipulator. After reviewing the mathematical conditions that characterize this set, and their kinematic and geometric interpretation, this paper shows how these conditions can be formulated in an amenable manner in planar manipulators, allowing the definition of a conceptually-simple method for isolating the set exhaustively, even in higher-dimensional cases. As a result, the method delivers a collection of boxes bounding the location of all points of the set, whose accuracy can be adjusted through a threshold parameter. Such boxes can then be projected to the input or output coordinate spaces, obtaining informative diagrams, or portraits, on the global motion capabilities of the manipulator. Examples are included that show the application of the method to simple manipulators, and to a complex mechanism that would be difficult to analyze using common-practice procedures.Peer Reviewed20132013-01-0120142014-04-03journal articlehttp://purl.org/coar/resource_type/c_6501VoRhttp://purl.org/coar/version/c_970fb48d4fbd8a85info:eu-repo/semantics/articleapplication/pdfhttps://hdl.handle.net/2117/22508reponame:UPCommons. Portal del coneixement obert de la UPCinstname:Universitat Politècnica de Catalunya (UPC)Inglésengopen accesshttp://purl.org/coar/access_right/c_abf2Attribution-NonCommercial-NoDerivs 3.0 Spainhttp://creativecommons.org/licenses/by-nc-nd/3.0/es/info:eu-repo/semantics/openAccessoai:upcommons.upc.edu:2117/225082026-05-27T15:37:01Z
dc.title.none.fl_str_mv Singularities of non-redundant manipulators: a short account and a method for their computation in the planar case
title Singularities of non-redundant manipulators: a short account and a method for their computation in the planar case
spellingShingle Singularities of non-redundant manipulators: a short account and a method for their computation in the planar case
Bohigas Nadal, Oriol
Robots -- Dynamics
manipulators robot kinematics PARAULES AUTOR: singularity set
planar manipulator
forward singularity
inverse singularity
box approximation
branch-and-prune method
Robots -- Dinàmica
Classificació INSPEC::Automation::Robots::Robot kinematics
Àrees temàtiques de la UPC::Informàtica::Robòtica
title_short Singularities of non-redundant manipulators: a short account and a method for their computation in the planar case
title_full Singularities of non-redundant manipulators: a short account and a method for their computation in the planar case
title_fullStr Singularities of non-redundant manipulators: a short account and a method for their computation in the planar case
title_full_unstemmed Singularities of non-redundant manipulators: a short account and a method for their computation in the planar case
title_sort Singularities of non-redundant manipulators: a short account and a method for their computation in the planar case
dc.creator.none.fl_str_mv Bohigas Nadal, Oriol
Manubens Ferriol, Montserrat
Ros Giralt, Lluís|||0000-0002-8338-6062
author Bohigas Nadal, Oriol
author_facet Bohigas Nadal, Oriol
Manubens Ferriol, Montserrat
Ros Giralt, Lluís|||0000-0002-8338-6062
author_role author
author2 Manubens Ferriol, Montserrat
Ros Giralt, Lluís|||0000-0002-8338-6062
author2_role author
author
dc.subject.none.fl_str_mv Robots -- Dynamics
manipulators robot kinematics PARAULES AUTOR: singularity set
planar manipulator
forward singularity
inverse singularity
box approximation
branch-and-prune method
Robots -- Dinàmica
Classificació INSPEC::Automation::Robots::Robot kinematics
Àrees temàtiques de la UPC::Informàtica::Robòtica
topic Robots -- Dynamics
manipulators robot kinematics PARAULES AUTOR: singularity set
planar manipulator
forward singularity
inverse singularity
box approximation
branch-and-prune method
Robots -- Dinàmica
Classificació INSPEC::Automation::Robots::Robot kinematics
Àrees temàtiques de la UPC::Informàtica::Robòtica
description The study of the singularity set is of utmost utility in understanding the local and global behavior of a manipulator. After reviewing the mathematical conditions that characterize this set, and their kinematic and geometric interpretation, this paper shows how these conditions can be formulated in an amenable manner in planar manipulators, allowing the definition of a conceptually-simple method for isolating the set exhaustively, even in higher-dimensional cases. As a result, the method delivers a collection of boxes bounding the location of all points of the set, whose accuracy can be adjusted through a threshold parameter. Such boxes can then be projected to the input or output coordinate spaces, obtaining informative diagrams, or portraits, on the global motion capabilities of the manipulator. Examples are included that show the application of the method to simple manipulators, and to a complex mechanism that would be difficult to analyze using common-practice procedures.
publishDate 2013
dc.date.none.fl_str_mv 2013
2013-01-01
2014
2014-04-03
dc.type.none.fl_str_mv journal article
http://purl.org/coar/resource_type/c_6501
VoR
http://purl.org/coar/version/c_970fb48d4fbd8a85
dc.type.openaire.fl_str_mv info:eu-repo/semantics/article
format article
dc.identifier.none.fl_str_mv https://hdl.handle.net/2117/22508
url https://hdl.handle.net/2117/22508
dc.language.none.fl_str_mv Inglés
eng
language_invalid_str_mv Inglés
language eng
dc.rights.none.fl_str_mv open access
http://purl.org/coar/access_right/c_abf2
Attribution-NonCommercial-NoDerivs 3.0 Spain
http://creativecommons.org/licenses/by-nc-nd/3.0/es/
dc.rights.openaire.fl_str_mv info:eu-repo/semantics/openAccess
rights_invalid_str_mv open access
http://purl.org/coar/access_right/c_abf2
Attribution-NonCommercial-NoDerivs 3.0 Spain
http://creativecommons.org/licenses/by-nc-nd/3.0/es/
eu_rights_str_mv openAccess
dc.format.none.fl_str_mv application/pdf
dc.source.none.fl_str_mv reponame:UPCommons. Portal del coneixement obert de la UPC
instname:Universitat Politècnica de Catalunya (UPC)
instname_str Universitat Politècnica de Catalunya (UPC)
reponame_str UPCommons. Portal del coneixement obert de la UPC
collection UPCommons. Portal del coneixement obert de la UPC
repository.name.fl_str_mv
repository.mail.fl_str_mv
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score 15,300724

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