Differential topology of the inverse kinematic problem for redundant robot manipulators

Journal Article · Tue Oct 01 00:00:00 EDT 1991 · International Journal of Robotics Research; (United States)

DOI:https://doi.org/10.1177/027836499101000505· OSTI ID:5066202

Tchon, K ^[1]

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1. Technical Univ. of Wroclaw, (Poland)

In this paper a program of singularity theory is proclaimed to be of systematic use in robotics. Complete lists of normal forms are proposed and are regarded as candidate models of kinematics of robot manipulators. Arguments for the applicability of candidate normal forms to manipulator kinematics are provided. Singularities and bifurcation diagrams of the normal forms are examined and consequences derived for the inverse kinematic problem in redundant kinematics with singularities.

• OSTI ID: 5066202
• Journal Information: International Journal of Robotics Research; (United States), Vol. 10:5; ISSN 0278-3649
• Country of Publication: United States
• Language: English

Related Subjects

99 GENERAL AND MISCELLANEOUS//MATHEMATICS, COMPUTING, AND INFORMATION SCIENCE
HANDS
COMPUTERIZED CONTROL SYSTEMS
ROBOTS
CONTROL THEORY
DIFFERENTIAL TOPOLOGY
KINETICS
MANIPULATORS
SINGULARITY
BODY
BODY AREAS
CONTROL SYSTEMS
EQUIPMENT
LABORATORY EQUIPMENT
LIMBS
MATERIALS HANDLING EQUIPMENT
MATHEMATICS
ON-LINE CONTROL SYSTEMS
ON-LINE SYSTEMS
REMOTE HANDLING EQUIPMENT
TOPOLOGY
990200* - Mathematics & Computers