A practical procedure to analyze singular configurations in closed kinematic chains

• Published in: IEEE transactions on robotics Vol. 20; no. 6; pp. 929 - 940
• Main Authors: Altuzarra, O., Pinto, C., Aviles, R., Hernandez, A.
• Format: Journal Article
• Language: English
• Published: New York, NY IEEE 01.12.2004; Institute of Electrical and Electronics Engineers
• Subjects: Actuators; Applied sciences; Artificial intelligence; Automata. Logic controller; Computer programs; Computer science; control theory; systems; Concurrent computing; Constraint singularity; Control theory. Systems; Couplings; Degrees of freedom; Equations; Exact sciences and technology; geometric matrix; Government; Jacobian matrices; Jacobian matrix; Kinematics; Mathematical analysis; Mechanical engineering; Modelling and identification; parallel manipulators; Parallel robots; Pattern recognition. Digital image processing. Computational geometry; Process control. Computer integrated manufacturing; Redundant; singular configurations; Singularities; Uncertainty; velocity equation; Geometrical structure; Singularity; Uncertainty; Configuration; Velocity space; Classification; Geometrical configuration; Controllability; Detection; Geometrical theory
• ISSN: 1552-3098; 1941-0468
• DOI: 10.1109/TRO.2004.832798

The authors present a general method for the automated singularity analysis of any mechanism at a given configuration. The procedure uses a base of the motion space. This is obtained from a velocity equation characterized by a geometric matrix. This special form of Jacobian matrix has some advantages for automatic implementation. This approach provides the degree of freedom associated with the singularity, uncontrolled motion, and kinematic dependencies. It also facilitates the choice of actuators and redundant devices. The method has been implemented in a computer program for kinematic analysis.