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Simplifying Some Characteristics of Manipulators Based on Features of Their Models

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Computer Aided Systems Theory – EUROCAST 2017 (EUROCAST 2017)

Part of the book series: Lecture Notes in Computer Science ((LNTCS,volume 10672))

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Abstract

In this paper a method to simply computations of singular configurations of redundant and nonredundant manipulators was presented. Theoretical and numerical aspects of the method were given. Illustrating examples were carried out on models of planar pendula. The method can be also applied to simplify computations of manipulators’ dynamics.

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Acknowledgments

The research was supported by WUST within grant no. 0401/0209/16.

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Authors and Affiliations

  1. Electronics Faculty, Wroclaw University of Technology, Janiszewski St. 11/17, 50-372, Wroclaw, Poland

    Ignacy Duleba & Iwona Karcz-Duleba

Authors
  1. Ignacy Duleba
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  2. Iwona Karcz-Duleba
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Corresponding author

Correspondence to Ignacy Duleba .

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Editors and Affiliations

  1. University of Las Palmas de Gran Canaria, Las Palmas de Gran Canaria, Spain

    Roberto Moreno-Díaz

  2. Johannes Kepler University Linz, Linz, Austria

    Franz Pichler

  3. University of Las Palmas de Gran Canaria, Las Palmas de Gran Canaria, Spain

    Alexis Quesada-Arencibia

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Duleba, I., Karcz-Duleba, I. (2018). Simplifying Some Characteristics of Manipulators Based on Features of Their Models. In: Moreno-Díaz, R., Pichler, F., Quesada-Arencibia, A. (eds) Computer Aided Systems Theory – EUROCAST 2017. EUROCAST 2017. Lecture Notes in Computer Science(), vol 10672. Springer, Cham. https://doi.org/10.1007/978-3-319-74727-9_14

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  • DOI: https://doi.org/10.1007/978-3-319-74727-9_14

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-74726-2

  • Online ISBN: 978-3-319-74727-9

  • eBook Packages: Computer ScienceComputer Science (R0)

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