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dc.contributor.authorBohigas Nadal, Oriol
dc.contributor.authorZlatanov, Dimiter
dc.contributor.authorRos Giralt, Lluís
dc.contributor.authorManubens Ferriol, Montserrat
dc.contributor.authorPorta Pleite, Josep Maria
dc.contributor.otherInstitut de Robòtica i Informàtica Industrial
dc.identifier.citationBohigas, O. [et al.]. Numerical computation of manipulator singularities. A: IEEE International Conference on Robotics and Automation. "Proceedings of the 2012 IEEE International Conference on Robotics and Automation". St. Paul - Minessota: IEEE, 2012, p. 1351-1358.
dc.description.abstractThis 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 singularity type is given. Using a numerical method based on linear relaxations, the configurations in each type are computed independently. The method is general and complete: it can be applied to manipulators with arbitrary geometry; and will isolate singu- larities with the desired accuracy. As an example, the entire singularity set and its complete classification are computed for a two-degree-of-freedom mechanism. The complex partition of the configuration space by various singularities is illustrated by three-dimensional projections.
dc.format.extent8 p.
dc.rightsAttribution-NonCommercial-NoDerivs 3.0 Spain
dc.subjectÀrees temàtiques de la UPC::Informàtica::Robòtica
dc.subject.lcshRobots -- Programming
dc.subject.otherrobots PARAULES AUTOR: singularity set computation
dc.subject.othernon-redundant manipulator
dc.subject.otherlinear relaxation
dc.subject.otherbranch-and-prune method
dc.titleNumerical computation of manipulator singularities
dc.typeConference report
dc.subject.lemacRobots -- Programació
dc.contributor.groupUniversitat Politècnica de Catalunya. ROBiri - Grup de Robòtica de l'IRI
dc.contributor.groupUniversitat Politècnica de Catalunya. DCCG - Grup de recerca en geometria computacional, combinatoria i discreta
dc.description.peerreviewedPeer Reviewed
dc.subject.inspecClassificació INSPEC::Automation::Robots
dc.rights.accessOpen Access
dc.description.versionPostprint (author’s final draft)
upcommons.citation.authorBohigas, O.; Zlatanov, D.; Ros, L.; Manubens, M.; Porta, J.M.
upcommons.citation.contributorIEEE International Conference on Robotics and Automation
upcommons.citation.pubplaceSt. Paul - Minessota
upcommons.citation.publicationNameProceedings of the 2012 IEEE International Conference on Robotics and Automation

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