Escapability of singular configuration for redundant manipulators via self-motion

The goal of this paper is to study the behavior of general redundant manipulators near singular configurations, and investigate the escapability of redundant manipulators at a singularity. Escapability means that the manipulator can actually reconfigure itself from a singular posture to a nonsingular posture via self-motion. Criteria for the classifications of escapable and inescapable singularities are established. Examples are given to demonstrate the use of these criteria.

Authors

• Jiaqing Seng
• Kevin A. O'Neil
• Yu-Che Chen

Keywords

• Arm
• Jacobian matrices
• End effectors
• Null space
• Manipulators
• Robots
• Kinematics
• Nonlinear equations
• Educational institutions
• Erbium
• Singular Configuration
• Goal Of This Paper
• General Function
• Jacobian Matrix
• Hessian Matrix
• Z Coordinates
• Linker Length
• End-effector
• Null Vector
• Singular Point
• Regular Points
• End-effector Position
• Joint Set