Singularity Analysis of Closed Kinematic Chains
作者： F. C. Park , J. W. Kim
DOI: 10.1115/1.2829426
关键词:
摘要: This paper presents a coordinate-invariant differential geometric analysis of kinematic singularities for closed chains containing both active and passive joints. Using the framework developed in Park Kim (1996) chain manipulability analysis, we classify into three basic types: (i) those corresponding to singular points joint configuration space (configuration singularities), (ii) induced by choice actuated joints (actuator (iii) configurations which end-effector loses one or more degrees freedom available motion (end-effector singularities). The proposed classification provides high-level taxonomy mechanism that is independent local coordinates used describe kinematics, includes mechanisms have actuators than freedom.
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