Exploració per autor "Zlatanov, Dimiter"

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    • A general method for the numerical computation of manipulator singularity sets 

      Bohigas Nadal, Oriol; Zlatanov, Dimiter; Ros Giralt, Lluís; Manubens Ferriol, Montserrat; Porta Pleite, Josep Maria (2014)
      Article
      Accés obert
      The analysis of singularities is central to the development and control of a manipulator. However, existing methods for singularity set computation still concentrate on specific classes of manipulators. The absence of ...

    • Numerical computation of manipulator singularities 

      Bohigas Nadal, Oriol; Zlatanov, Dimiter; Ros Giralt, Lluís; Manubens Ferriol, Montserrat; Porta Pleite, Josep Maria (IEEE, 2012)
      Text en actes de congrés
      Accés obert
      This paper provides a method to compute all types of singularities of non-redundant manipulators with non-helical lower pairs and designated instantaneous input and output speeds. A system of equations describing each ...

    • On the numerical classification of the singularities of robot manipulators 

      Bohigas Nadal, Oriol; Zlatanov, Dimiter; Manubens Ferriol, Montserrat; Ros Giralt, Lluís (2013)
      Text en actes de congrés
      Accés obert
      This paper is concerned with the task to obtain a complete description of the singularity set of any given non-redundant manipulator, including the identification and the precise computation of each constituent singularity ...