Now showing items 1-3 of 3

  • 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
    Open Access
    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)
    Conference report
    Open Access
    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)
    Conference report
    Open Access
    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 ...