Reciprocity-based resolution of velocity degeneracies (singularities) for redundant manipulators

Nokleby, Scott B.; Podhorodeski, Ron P.

doi:10.1016/s0094-114x(00)00051-3

Cited by 34 publications

(13 citation statements)

References 13 publications

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“…Nokleby and Podhorodeski [15] have provided a methodology for determining the velocity-degenerate (singular) configurations of joint-redundant manipulators. They use the properties of reciprocal screws to determine all degenerate configurations that result in a single DoF motion loss.…”

Section: Collins and Mccarthymentioning

confidence: 99%

The singularity study of spatial hybrid mechanisms based on screw theory

Zhao

Zhou

Feng

et al. 2004

Int J Adv Manuf Technol

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In this paper, a novel methodology based on screw theory to study the singularity of spatial hybrid mechanisms is presented. According to the physical meaning of inverse screws, we introduce the equivalent kinematic screws to replace the function of those of the parallel limbs, and therefore the hybrid branch can be transformed into a pure series kinematic chain which can facilitate the whole analytical process of the singularity of complex spatial hybrid mechanisms. In fact, this methodology can be widely used to solve the singularity problems of spatial hybrid mechanisms based on the analysis of their kinematic characters.

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Section: Collins and Mccarthymentioning

confidence: 99%

The singularity study of spatial hybrid mechanisms based on screw theory

Zhao

Zhou

Feng

et al. 2004

Int J Adv Manuf Technol

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“…Although the matrix formed by [$][$] T is a square matrix, the form of expressions for its elements can be unwieldy. The resulting Other methods have been developed and applied to the problem of identifying singular configurations of joint-redundant serial manipulators (see, e.g., [12][13][14][15][16][17][18][19][20][21][22][23][24][25][26][27][28][29][30]). …”

Section: Introductionmentioning

confidence: 99%

“…Nokleby and Podhorodeski [24][25][26] developed a methodology based on reciprocity of screws to identify singular configurations for joint-redundant manipulators. Sugimoto et al [31] showed that in a singular configuration there exists a screw, W recip , that is reciprocal 2 to all joint screws, $:…”

Section: Introductionmentioning

confidence: 99%

“…Dupuis [28] proposed two algorithms for finding singular configurations of joint-redundant manipulators: the singular vector algorithm and the recursive sub-determinant algorithm. The singular vector algorithm (which also appeared in [29]) is simply a reformulation of the reciprocity-based methodology of Nokleby and Podhorodeski [24][25][26] into linear algebra terms. Dupuis investigated the singular configurations of the Canadarm2, but only considered cases of reduced motion spaces where the Jacobian of the Canadarm2 was square.…”

Section: Introductionmentioning

confidence: 99%

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Singularity analysis of the Canadarm2

Nokleby

2007

Mechanism and Machine Theory

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“…Nokleby and Podhorodeski [15] have given a methodology for determining the velocity-degenerate (singular) configurations of joint-redundant manipulators. They use the properties of reciprocal screws to determine all degenerate configurations resulting in a single DOF motion loss.…”

Section: Introductionmentioning

confidence: 99%

A novel methodology to study the singularity of spatial parallel mechanisms

Zhao

Zhou

2004

The International Journal of Advanced Manufacturing Technology

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In this paper, a novel methodology to study the singularity of spatial parallel mechanisms is presented. With the theory of reciprocal screws, we make a thorough analysis of the kinematic screws of each branch mechanism. According to the physical meaning of the inverse screws of kinematic screws, we introduce the static equilibrium equations to gain a novel methodology to study the singularities of the dynamic mechanisms. Through the novel methodology, we obtain universal criteria that the mechanism will be singular.

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Reciprocity-based resolution of velocity degeneracies (singularities) for redundant manipulators

Cited by 34 publications

References 13 publications

The singularity study of spatial hybrid mechanisms based on screw theory

The singularity study of spatial hybrid mechanisms based on screw theory

Singularity analysis of the Canadarm2

A novel methodology to study the singularity of spatial parallel mechanisms

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