Differential topology of the inverse kinematic problem for redundant robot manipulators

Tchon, K

doi:10.1177/027836499101000505

Title: Differential topology of the inverse kinematic problem for redundant robot manipulators

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Abstract

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.

Authors:

Tchon, K ^[1]

Technical Univ. of Wroclaw, (Poland)

Publication Date:: Tue Oct 01 00:00:00 EDT 1991

OSTI Identifier:: 5066202

Resource Type:: Journal Article

Journal Name:: International Journal of Robotics Research; (United States)

Additional Journal Information:: Journal Volume: 10:5; Journal ID: ISSN 0278-3649

Country of Publication:: United States

Language:: English

Subject:: 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

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                    Tchon, K. Differential topology of the inverse kinematic problem for redundant robot manipulators.  United States: N. p., 1991. 
        Web.  doi:10.1177/027836499101000505.

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                    Tchon, K. Differential topology of the inverse kinematic problem for redundant robot manipulators.  United States.  https://doi.org/10.1177/027836499101000505

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                    Tchon, K. 1991.  
        "Differential topology of the inverse kinematic problem for redundant robot manipulators".  United States.  https://doi.org/10.1177/027836499101000505.

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@article{osti_5066202,

  title        = {Differential topology of the inverse kinematic problem for redundant robot manipulators},

  author       = {Tchon, K},

  abstractNote = {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.},

  doi          = {10.1177/027836499101000505},

  url          = {https://www.osti.gov/biblio/5066202},
  journal      = {International Journal of Robotics Research; (United States)},

  issn         = {0278-3649},

  number       = ,

  volume       = 10:5,

  place        = {United States},

  year         = {Tue Oct 01 00:00:00 EDT 1991},

  month        = {Tue Oct 01 00:00:00 EDT 1991}

}

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