A Screw Syzygy with Applications to Robot Singularity Computation
A syzygy is a relation between invariants. In this paper a syzygy is presented between invariants of sequences of six screws under the action of the Euclidean group. This relation is useful in simplifying the computation of the determinant of a robot Jacobian and hence can be used to investigate the singularities of robot manipulators.
Key wordsJacobians determinants singularities
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