Document Type
Conference Proceeding
Publication Date
1-1-2014
Publication Title
Mechanisms and Machine Science
Abstract
We present a theoretical and algorithmic method for describing the singularity locus for the endpoint map of any serial manipulator with revolute joints. As a surface of revolution around the first joint, the singularity locus is determined by its intersection with a fixed plane through the first joint. The resulting plane curve is part of an algebraic curve called the singularity curve. Its degree can be computed from the specialized case of all pairs of consecutive joints coplanar, when the singularity curve is a union of circles, counted with multiplicity two. Knowledge of the degree and a simple iterative procedure for obtaining sample points on the singularity curve lead to the precise equation of the curve. © Springer Science+Business Media Dordrecht 2014.
Keywords
Endpoint map singularity, Revolute joints, Serial manipulator
Volume
15
First Page
271
Last Page
279
DOI
10.1007/978-94-007-7214-4_30
ISSN
22110984
Recommended Citation
Borcea, Ciprian S. and Streinu, Ileana, "Singularity Locus for the Endpoint Map of Serial Manipulators with Revolute Joints" (2014). Computer Science: Faculty Publications, Smith College, Northampton, MA.
https://scholarworks.smith.edu/csc_facpubs/318
Comments
Peer reviewed accepted manuscript.