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Singularities of Robot Mechanisms pp 167–173Cite as

Conclusions

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Part of the book series: Mechanisms and Machine Science ((Mechan. Machine Science,volume 41))

Abstract

This book has presented new methods for singularity set computation and singularity-free path planning. Unlike in previous works, the two problems have been addressed assuming a general kinematic architecture and geometry of the robotic systems under consideration. By design, the methods are applicable to any nonredundant mechanism with lower-pair joints, the only limitation coming from the computational power available. Special emphasis has been put on illustrating the methods in mechanisms with complex architectures because they are those typically arising in today’s robotics, where the development of new machines with increasingly complex motions is a growing trend. To conclude the book, we summarise the presented results and highlight points for future attention.

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Authors and Affiliations

  1. Institut de Robòtica i Informàtica Industrial (UPC-CSIC), Barcelona, Catalonia, Spain

    Oriol Bohigas, Montserrat Manubens & Lluís Ros

Authors
  1. Oriol Bohigas
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  2. Montserrat Manubens
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  3. Lluís Ros
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Correspondence to Oriol Bohigas .

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Bohigas, O., Manubens, M., Ros, L. (2017). Conclusions. In: Singularities of Robot Mechanisms. Mechanisms and Machine Science, vol 41. Springer, Cham. https://doi.org/10.1007/978-3-319-32922-2_7

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  • DOI: https://doi.org/10.1007/978-3-319-32922-2_7

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-32920-8

  • Online ISBN: 978-3-319-32922-2

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