Singularity analysis of 6-DOF manipulators with the analytical representation of the determinant

The determinant of a Jacobian is used as a tool for describing the performance of manipulators. Especially for finding a singularity condition of manipulators, the single algebraic equation, i.e., the determinant of the Jacobian, is one of the simple and exact tools to analyze. For parallel manipula...

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Published inProceedings - IEEE International Conference on Robotics and Automation Vol. 2; pp. 889 - 894 vol.2
Main Authors Kim, Doik, Chung, Wankyun, Youm, Youngil
Format Conference Proceeding Journal Article
LanguageEnglish
Published IEEE 1999
Subjects
Degradation
Equations
Fasteners
Gaussian processes
Jacobian matrices
Kinematics
Manipulators
Mechanical engineering
Performance analysis
Robots
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Summary:The determinant of a Jacobian is used as a tool for describing the performance of manipulators. Especially for finding a singularity condition of manipulators, the single algebraic equation, i.e., the determinant of the Jacobian, is one of the simple and exact tools to analyze. For parallel manipulators, singularity analysis is one of the most important step in the design to improve their rigidity and performance. This paper provides a unified method for the expression of the determinant of the Jacobian matrix for 6-DOF manipulators including parallel and serial manipulators.
Bibliography:SourceType-Scholarly Journals-2
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ISBN:9780780351806
0780351800
ISSN:1050-4729
2577-087X
DOI:10.1109/ROBOT.1999.772402