Abstract
The planar 2R manipulator is used as a vehicle for investigating the problem of tracking end-effector paths that force the manipulator into a singular configuration. Results show that isolated points, turning points, nodes, cusps, hypernodes, and hypercusps can arise in the locus of inverse kinematic solutions depending the end-point path’s degree of contact with the workspace boundary. Methods for determining smooth local representations of each type of path-tracking singularity are developed based on low-order analysis. These representations provide complete low-order information on all families of trajectories that track the path at the singularity.
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References
Kieffer J., 1992, “Manipulator Inverse Kinematics for Untimed End-Effector Trajectories with Ordinary Singularities,” International Journal of Robotics Research, Vol.11 No.3, pp. 225–237.
Kieffer J., 1993, “Differential Analysis of Bifurcations and Isolated Singularities for Robots and Mechanisms,” IEEE Transactions on Robotics and Automation, (to appear).
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© 1993 Springer Science+Business Media Dordrecht
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Kieffer, J., O’Loghlin, B. (1993). An Investigation of Path Tracking Singularities for Planar 2R Manipulators. In: Angeles, J., Hommel, G., Kovács, P. (eds) Computational Kinematics. Solid Mechanics and Its Applications, vol 28. Springer, Dordrecht. https://doi.org/10.1007/978-94-015-8192-9_19
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DOI: https://doi.org/10.1007/978-94-015-8192-9_19
Publisher Name: Springer, Dordrecht
Print ISBN: 978-90-481-4342-9
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