RoManSy 6 pp 81-89 | Cite as

Robot Motion: Configuration Analysis of Redundant and Nonredundant Manipulators

  • M. S. Konstantinov
  • D. N. Nenchev


The subject of this paper is the analysis of singular and boundary configurations of open loop spatial kinematic structures. Redundant as well as nonredundant manipulators are considered. Global and local variables are introduced to classify the current (instantaneous) manipulator configuration (as a regular one,) a a singular, a boundary or a singular-and-boundary configuration. The analysis is based on a Linearized inverse kinematic problem solution. The end effector’s motion trajectory problem is discussed in connection with the type of a given instantaneous robot configuration. Graphic interpretations are also presented.


Robot Motion Task Variable Graphic Interpretation Singular Configuration Robot Task 
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Copyright information

© Hermes, Paris 1987

Authors and Affiliations

  • M. S. Konstantinov
    • 1
  • D. N. Nenchev
    • 1
  1. 1.Robotics Department Higher Institute of Mechanical and Electrical EngineeringBulgaria

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