A New Method for the Singularity Analysis of Simple Six-link Manipulators
This paper presents a new method for identifying conditions governing all singular configurations of simple six-link ma nipulators whose inverse kinematic position problems have closed-form solutions. The method is developed based on the concepts of service sphere, free service region, and dextrous...
Gespeichert in:
| Veröffentlicht in: | The International journal of robotics research 1986-06, Vol.5 (2), p.66-74 |
|---|---|
| Hauptverfasser: | , |
| Format: | Artikel |
| Sprache: | eng |
| Schlagworte: | |
| Online-Zugang: | Volltext |
| Tags: |
Tag hinzufügen
Keine Tags, Fügen Sie den ersten Tag hinzu!
|
| container_end_page | 74 |
|---|---|
| container_issue | 2 |
| container_start_page | 66 |
| container_title | The International journal of robotics research |
| container_volume | 5 |
| creator | Lai, Z.C. Yang, D.C.H. |
| description | This paper presents a new method for identifying conditions governing all singular configurations of simple six-link ma nipulators whose inverse kinematic position problems have closed-form solutions. The method is developed based on the concepts of service sphere, free service region, and dextrous wrist. For a simple six-link manipulator, we identify its singular state with finite internal degrees of freedom by using the conditions that cause the manipulator's inverse solutions to be indeterminate. Meanwhile its singular state with infini tesimal internal degrees of freedom can be identified by examining the determinant of the Jacobion of the first three links. This simple and straightforward method is illustrated by three examples. |
| doi_str_mv | 10.1177/027836498600500207 |
| format | Article |
| fullrecord | <record><control><sourceid>proquest_cross</sourceid><recordid>TN_cdi_proquest_miscellaneous_24174504</recordid><sourceformat>XML</sourceformat><sourcesystem>PC</sourcesystem><sage_id>10.1177_027836498600500207</sage_id><sourcerecordid>24174504</sourcerecordid><originalsourceid>FETCH-LOGICAL-c260t-69921437bb1f8d55ee7773d269496d0d34001f077e0d0079e93c965779f3b51b3</originalsourceid><addsrcrecordid>eNp9kD1PwzAQhi0EEqXwB5g8ILbQs53Y8VhVfFRqYQDmyEns1iWNg50K-u9x1IoFiemku-d9pXsQuiZwR4gQE6AiZzyVOQfIACiIEzQiIiUJI4KfotEAJANxji5C2AAA4yBHaD7Fz_oLL3W_djU2zuN-rfGrbVe7Rnnb7_G0Vc0-2ICdiftt1wzn76Sx7QdeqtZ2EeydD5fozKgm6KvjHKP3h_u32VOyeHmcz6aLpKIc-oRLSUnKRFkSk9dZprUQgtWUy1TyGmqWAhADQmioAYTUklWSZ0JIw8qMlGyMbg-9nXefOx36YmtDpZtGtdrtQkHT-HcGaQTpAay8C8FrU3TebpXfFwSKwVrx11oM3RzbVahUY7xqKxt-kzkIGhMRmxywoFa62Lidj5bCf8U_zQF3RQ</addsrcrecordid><sourcetype>Aggregation Database</sourcetype><iscdi>true</iscdi><recordtype>article</recordtype><pqid>24174504</pqid></control><display><type>article</type><title>A New Method for the Singularity Analysis of Simple Six-link Manipulators</title><source>SAGE Complete A-Z List</source><creator>Lai, Z.C. ; Yang, D.C.H.</creator><creatorcontrib>Lai, Z.C. ; Yang, D.C.H.</creatorcontrib><description>This paper presents a new method for identifying conditions governing all singular configurations of simple six-link ma nipulators whose inverse kinematic position problems have closed-form solutions. The method is developed based on the concepts of service sphere, free service region, and dextrous wrist. For a simple six-link manipulator, we identify its singular state with finite internal degrees of freedom by using the conditions that cause the manipulator's inverse solutions to be indeterminate. Meanwhile its singular state with infini tesimal internal degrees of freedom can be identified by examining the determinant of the Jacobion of the first three links. This simple and straightforward method is illustrated by three examples.</description><identifier>ISSN: 0278-3649</identifier><identifier>EISSN: 1741-3176</identifier><identifier>DOI: 10.1177/027836498600500207</identifier><identifier>CODEN: IJRREL</identifier><language>eng</language><publisher>Thousand Oaks, CA: Sage Publications</publisher><subject>Applied sciences ; Computer science; control theory; systems ; Control theory. Systems ; Exact sciences and technology ; Robotics</subject><ispartof>The International journal of robotics research, 1986-06, Vol.5 (2), p.66-74</ispartof><rights>1987 INIST-CNRS</rights><lds50>peer_reviewed</lds50><woscitedreferencessubscribed>false</woscitedreferencessubscribed><citedby>FETCH-LOGICAL-c260t-69921437bb1f8d55ee7773d269496d0d34001f077e0d0079e93c965779f3b51b3</citedby><cites>FETCH-LOGICAL-c260t-69921437bb1f8d55ee7773d269496d0d34001f077e0d0079e93c965779f3b51b3</cites></display><links><openurl>$$Topenurl_article</openurl><openurlfulltext>$$Topenurlfull_article</openurlfulltext><thumbnail>$$Tsyndetics_thumb_exl</thumbnail><linktopdf>$$Uhttps://journals.sagepub.com/doi/pdf/10.1177/027836498600500207$$EPDF$$P50$$Gsage$$H</linktopdf><linktohtml>$$Uhttps://journals.sagepub.com/doi/10.1177/027836498600500207$$EHTML$$P50$$Gsage$$H</linktohtml><link.rule.ids>314,777,781,21800,27905,27906,43602,43603</link.rule.ids><backlink>$$Uhttp://pascal-francis.inist.fr/vibad/index.php?action=getRecordDetail&idt=8072364$$DView record in Pascal Francis$$Hfree_for_read</backlink></links><search><creatorcontrib>Lai, Z.C.</creatorcontrib><creatorcontrib>Yang, D.C.H.</creatorcontrib><title>A New Method for the Singularity Analysis of Simple Six-link Manipulators</title><title>The International journal of robotics research</title><description>This paper presents a new method for identifying conditions governing all singular configurations of simple six-link ma nipulators whose inverse kinematic position problems have closed-form solutions. The method is developed based on the concepts of service sphere, free service region, and dextrous wrist. For a simple six-link manipulator, we identify its singular state with finite internal degrees of freedom by using the conditions that cause the manipulator's inverse solutions to be indeterminate. Meanwhile its singular state with infini tesimal internal degrees of freedom can be identified by examining the determinant of the Jacobion of the first three links. This simple and straightforward method is illustrated by three examples.</description><subject>Applied sciences</subject><subject>Computer science; control theory; systems</subject><subject>Control theory. Systems</subject><subject>Exact sciences and technology</subject><subject>Robotics</subject><issn>0278-3649</issn><issn>1741-3176</issn><fulltext>true</fulltext><rsrctype>article</rsrctype><creationdate>1986</creationdate><recordtype>article</recordtype><recordid>eNp9kD1PwzAQhi0EEqXwB5g8ILbQs53Y8VhVfFRqYQDmyEns1iWNg50K-u9x1IoFiemku-d9pXsQuiZwR4gQE6AiZzyVOQfIACiIEzQiIiUJI4KfotEAJANxji5C2AAA4yBHaD7Fz_oLL3W_djU2zuN-rfGrbVe7Rnnb7_G0Vc0-2ICdiftt1wzn76Sx7QdeqtZ2EeydD5fozKgm6KvjHKP3h_u32VOyeHmcz6aLpKIc-oRLSUnKRFkSk9dZprUQgtWUy1TyGmqWAhADQmioAYTUklWSZ0JIw8qMlGyMbg-9nXefOx36YmtDpZtGtdrtQkHT-HcGaQTpAay8C8FrU3TebpXfFwSKwVrx11oM3RzbVahUY7xqKxt-kzkIGhMRmxywoFa62Lidj5bCf8U_zQF3RQ</recordid><startdate>198606</startdate><enddate>198606</enddate><creator>Lai, Z.C.</creator><creator>Yang, D.C.H.</creator><general>Sage Publications</general><general>Sage Science</general><scope>IQODW</scope><scope>AAYXX</scope><scope>CITATION</scope><scope>8FD</scope><scope>H8D</scope><scope>L7M</scope></search><sort><creationdate>198606</creationdate><title>A New Method for the Singularity Analysis of Simple Six-link Manipulators</title><author>Lai, Z.C. ; Yang, D.C.H.</author></sort><facets><frbrtype>5</frbrtype><frbrgroupid>cdi_FETCH-LOGICAL-c260t-69921437bb1f8d55ee7773d269496d0d34001f077e0d0079e93c965779f3b51b3</frbrgroupid><rsrctype>articles</rsrctype><prefilter>articles</prefilter><language>eng</language><creationdate>1986</creationdate><topic>Applied sciences</topic><topic>Computer science; control theory; systems</topic><topic>Control theory. Systems</topic><topic>Exact sciences and technology</topic><topic>Robotics</topic><toplevel>peer_reviewed</toplevel><toplevel>online_resources</toplevel><creatorcontrib>Lai, Z.C.</creatorcontrib><creatorcontrib>Yang, D.C.H.</creatorcontrib><collection>Pascal-Francis</collection><collection>CrossRef</collection><collection>Technology Research Database</collection><collection>Aerospace Database</collection><collection>Advanced Technologies Database with Aerospace</collection><jtitle>The International journal of robotics research</jtitle></facets><delivery><delcategory>Remote Search Resource</delcategory><fulltext>fulltext</fulltext></delivery><addata><au>Lai, Z.C.</au><au>Yang, D.C.H.</au><format>journal</format><genre>article</genre><ristype>JOUR</ristype><atitle>A New Method for the Singularity Analysis of Simple Six-link Manipulators</atitle><jtitle>The International journal of robotics research</jtitle><date>1986-06</date><risdate>1986</risdate><volume>5</volume><issue>2</issue><spage>66</spage><epage>74</epage><pages>66-74</pages><issn>0278-3649</issn><eissn>1741-3176</eissn><coden>IJRREL</coden><abstract>This paper presents a new method for identifying conditions governing all singular configurations of simple six-link ma nipulators whose inverse kinematic position problems have closed-form solutions. The method is developed based on the concepts of service sphere, free service region, and dextrous wrist. For a simple six-link manipulator, we identify its singular state with finite internal degrees of freedom by using the conditions that cause the manipulator's inverse solutions to be indeterminate. Meanwhile its singular state with infini tesimal internal degrees of freedom can be identified by examining the determinant of the Jacobion of the first three links. This simple and straightforward method is illustrated by three examples.</abstract><cop>Thousand Oaks, CA</cop><pub>Sage Publications</pub><doi>10.1177/027836498600500207</doi><tpages>9</tpages></addata></record> |
| fulltext | fulltext |
| identifier | ISSN: 0278-3649 |
| ispartof | The International journal of robotics research, 1986-06, Vol.5 (2), p.66-74 |
| issn | 0278-3649 1741-3176 |
| language | eng |
| recordid | cdi_proquest_miscellaneous_24174504 |
| source | SAGE Complete A-Z List |
| subjects | Applied sciences Computer science control theory systems Control theory. Systems Exact sciences and technology Robotics |
| title | A New Method for the Singularity Analysis of Simple Six-link Manipulators |
| url | https://sfx.bib-bvb.de/sfx_tum?ctx_ver=Z39.88-2004&ctx_enc=info:ofi/enc:UTF-8&ctx_tim=2025-01-19T14%3A24%3A52IST&url_ver=Z39.88-2004&url_ctx_fmt=infofi/fmt:kev:mtx:ctx&rfr_id=info:sid/primo.exlibrisgroup.com:primo3-Article-proquest_cross&rft_val_fmt=info:ofi/fmt:kev:mtx:journal&rft.genre=article&rft.atitle=A%20New%20Method%20for%20the%20Singularity%20Analysis%20of%20Simple%20Six-link%20Manipulators&rft.jtitle=The%20International%20journal%20of%20robotics%20research&rft.au=Lai,%20Z.C.&rft.date=1986-06&rft.volume=5&rft.issue=2&rft.spage=66&rft.epage=74&rft.pages=66-74&rft.issn=0278-3649&rft.eissn=1741-3176&rft.coden=IJRREL&rft_id=info:doi/10.1177/027836498600500207&rft_dat=%3Cproquest_cross%3E24174504%3C/proquest_cross%3E%3Curl%3E%3C/url%3E&disable_directlink=true&sfx.directlink=off&sfx.report_link=0&rft_id=info:oai/&rft_pqid=24174504&rft_id=info:pmid/&rft_sage_id=10.1177_027836498600500207&rfr_iscdi=true |