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Special configurations of robot-arms via screw theory

Published online by Cambridge University Press:  09 March 2009

K. H. Hunt
K. H. Hunt
Affiliation:
Department of Mechanical Engineering, Monash University, Clayton, Victoria 3168, (Australia)
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Abstract

SUMMARY

The Jacobian of serial robot-arms is examined, and the matrix of cofactors of a singular Jacobian is presented as a means of explaining the physical nature of special configurations. Because the columns of both these matrices are screw coordinates, screw theory is central to proper understanding. ‘Realistic’ robot-arms are seen to behave in ways that can be explained not by particularizing from a general formulation but rather by carefully interpreting the relevant special screw systems from the outset. Higher singularities (with more than one freedom-loss) are then touched upon.

Type
Articles
Information
Robotica , Volume 4 , Issue 3 , July 1986 , pp. 171 - 179
Copyright
Copyright © Cambridge University Press 1986

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