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Title
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A short note on point singularities for robot manipulators
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Author
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Abstract
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| We consider a specific type of singularities for kinematic chains, so-called point singularities. These were characterized in 2005 by Borcea and Streinu. We give a new proof for this result in the framework of the Exterior Algebra. As an illustration we give an exhaustive list of the point singularities of a specific robot manipulator. |
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Language
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English
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Source (journal)
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Journal of intelligent and robotic systems: theory and applications. - Dordrecht
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Publication
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Dordrecht
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2011
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ISSN
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0921-0296
[print]
1573-0409
[online]
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DOI
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10.1007/S10846-010-9444-5
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Volume/pages
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62
:2
(2011)
, p. 205-216
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ISI
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000289566000002
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Full text (Publisher's DOI)
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