Access the full text.
Sign up today, get DeepDyve free for 14 days.
A. Ghosal, B. Ravani (2001)
A differential-geometric analysis of singularities of point trajectories of serial and parallel manipulatorsJournal of Mechanical Design, 123
R. Fierro, J. Bunch (1995)
Bounding the Subspaces from Rank Revealing Two-Sided Orthogonal DecompositionsSIAM J. Matrix Anal. Appl., 16
O. Altuzarra, Charles Pinto, R. Avilés, A. Hernández (2004)
A practical procedure to analyze singular configurations in closed kinematic chainsIEEE Transactions on Robotics, 20
D. Zlatanov, R. Fenton, B. Benhabib (1998)
Identification and classification of the singular configurations of mechanismsMechanism and Machine Theory, 33
F. Xi, Wanzhi Han, M. Verner, A. Ross (2001)
Development of a sliding-leg tripod as an add-on device for manufacturingRobotica, 19
J. Jalón, J. Unda, A. Avello, J. Jiménez (1987)
Dynamic Analysis of Three-Dimensional Mechanisms in “Natural” CoordinatesJournal of Mechanisms Transmissions and Automation in Design, 109
Sung-Gaun Kim, J. Ryu (2003)
New dimensionally homogeneous Jacobian matrix formulation by three end-effector points for optimal design of parallel manipulatorsIEEE Trans. Robotics Autom., 19
C. Gosselin, J. Angeles (1990)
Singularity analysis of closed-loop kinematic chainsIEEE Trans. Robotics Autom., 6
T. Kane, D. Levinson (1983)
The Use of Kane's Dynamical Equations in RoboticsThe International Journal of Robotics Research, 2
J. Jalón, E. Bayo (1994)
Kinematic and Dynamic Simulation of Multibody Systems: The Real Time Challenge
X. Kong, C. Gosselin (2005)
Type Synthesis of 3-DOF PPR-Equivalent Parallel Manipulators Based on Screw Theory and the Concept of Virtual ChainJournal of Mechanical Design, 127
L. Tsai (1999)
Robot Analysis: The Mechanics of Serial and Parallel Ma-nipulators
N. Orlandea, M. Chace, D. Calahan (1977)
A Sparsity-Oriented Approach to the Dynamic Analysis and Design of Mechanical Systems—Part 1Journal of Engineering for Industry, 99
R.D. Fierro, J.R. Bunch
Bounding the subspaces from rank‐revealing two‐sided orthogonal matrix factorisations
L. Stocco, S. Salcudean, F. Sassani (1999)
On the use of scaling matrices for task-specific robot designIEEE Trans. Robotics Autom., 15
V. Petuya, A. Alonso, O. Altuzarra, A. Hernández (2005)
Resolution of the Direct Position Problem of Parallel Kinematic Platforms Using the Geometrical-Iterative MethodProceedings of the 2005 IEEE International Conference on Robotics and Automation
G. Golub (1983)
Matrix computations
Purpose – This paper aims to provide tools for the complete Jacobian analysis of robotic manipulators of general topology, using a comprehensive velocity equation. Design/methodology/approach – First, a modelling process is made in order to build the velocity equation using simple constraint equations: i.e. length restriction, relative motion and rigid body constraints. Then the motion space is solved, i.e. the space that spans all feasible motions of the manipulator. Findings – The velocity equation is comprehensive, i.e. it relates all kinematic variables, not only input and output. The Jacobian related to the comprehensive velocity equation is a square dimensionless matrix. This characteristic has great importance when evaluating manipulability or closeness to singularities. Employing the motion space, any kinematic entity can be studied: i.e. velocities and accelerations of any active/passive joints, screw axis, axodes, and so on. Also a comprehensive singularity analysis can be made. Research limitations/implications – The approach presented is focused on the kinetostatic analysis of manipulators and, therefore, subjected to rigid body assumption. Practical implications – The paper presents a proposal of effective codes for engineering analysis of manipulators. Originality/value – This approach is based on a pure computational kinematic analysis that unifies all kinetostatic analysis for any manipulator topology (i.e. serial, parallel, hybrid manipulators, complex mechanisms, redundant‐or non‐redundant‐actuated). The characteristic Jacobian matrix is dimensionless and provides the means for a complete singularity analysis and an effective use of indicators.
Engineering Computations: International Journal for Computer-Aided Engineering and Software – Emerald Publishing
Published: Jan 4, 2008
Keywords: Velocity; Numerical analysis; Robotics; Kinematics
Read and print from thousands of top scholarly journals.
Already have an account? Log in
Bookmark this article. You can see your Bookmarks on your DeepDyve Library.
To save an article, log in first, or sign up for a DeepDyve account if you don’t already have one.
Copy and paste the desired citation format or use the link below to download a file formatted for EndNote
Access the full text.
Sign up today, get DeepDyve free for 14 days.
All DeepDyve websites use cookies to improve your online experience. They were placed on your computer when you launched this website. You can change your cookie settings through your browser.