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dc.contributor.authorBohigas Nadal, Oriol
dc.contributor.authorZlatanov, Dimiter
dc.contributor.authorManubens Ferriol, Montserrat
dc.contributor.authorRos Giralt, Lluís
dc.identifier.citationBohigas, O. [et al.]. On the numerical classification of the singularities of robot manipulators. A: ASME International Design Engineering Technical Conferences. "Proceedings of the 2012 ASME International Design Engineering Technical Conference". Chicago: 2013, p. 1287-1296.
dc.description.abstractThis 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 class. Configurations belonging to the same class are equivalent in terms of the various types of kinematic and static degeneracy that characterize mechanism singularity. The proposed approach is an extension of recent work on computing singularities using a numerical method based on linear relaxations. Classification is sought by means of a hierarchy of singularity tests, each formulated as a system of quadratic or linear equations, which yields sets of classes to which an identified singularity cannot belong. A planar manipulator exemplifies the process of classification, and illustrates how, while most singularities get completely classified, for some lower-dimensional subsets one can only identify a restricted list of possible singularity classes.
dc.format.extent10 p.
dc.rightsAttribution-NonCommercial-NoDerivs 3.0 Spain
dc.subjectÀrees temàtiques de la UPC::Informàtica::Robòtica
dc.subject.othermanipulators robot kinematics singularities
dc.subject.otherbranch-and-prune method
dc.subject.otherlinear relaxation
dc.titleOn the numerical classification of the singularities of robot manipulators
dc.typeConference report
dc.contributor.groupUniversitat Politècnica de Catalunya. ROBiri - Grup de Robòtica de l'IRI
dc.rights.accessOpen Access
dc.description.versionPostprint (published version)
upcommons.citation.authorBohigas, O.; Zlatanov, D.; Manubens, M.; Ros, L.
upcommons.citation.contributorASME International Design Engineering Technical Conferences
upcommons.citation.publicationNameProceedings of the 2012 ASME International Design Engineering Technical Conference

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