Title
A short note on point singularities for robot manipulators
Author
Faculty/Department
Faculty of Sciences. Mathematics and Computer Science
Publication type
article
Publication
Dordrecht ,
Subject
Computer. Automation
Source (journal)
Journal of intelligent and robotic systems: theory and applications. - Dordrecht
Volume/pages
62(2011) :2 , p. 205-216
ISSN
0921-0296
ISI
000289566000002
Carrier
E
Target language
English (eng)
Full text (Publishers DOI)
Affiliation
University of Antwerp
Abstract
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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