Anzeige
Erschienen in:
2013 | OriginalPaper | Buchkapitel
Analytical Determination of the Instantaneous Motion Capabilities of Robotic Manipulators
verfasst von : O. Altuzarra, O. Salgado, A. Hernández, C. Pinto
Erschienen in: New Trends in Mechanism and Machine Science
Verlag: Springer Netherlands
Aktivieren Sie unsere intelligente Suche, um passende Fachinhalte oder Patente zu finden.
Wählen Sie Textabschnitte aus um mit Künstlicher Intelligenz passenden Patente zu finden. powered by
Markieren Sie Textabschnitte, um KI-gestützt weitere passende Inhalte zu finden. powered by
Abstract
The instantaneous motion capability of the end-effector of a manipulator is readily described by the type of screw system spanned. Such systems are classified by finding their principal screws. The analytical determination of such a base has been researched in the past using different techniques. The contribution of this paper is that the procedure presented is a comprehensive method that allows the systematic finding of the principal screws in closed form for screw systems of any order, solves for every special system, and is applicable to Inverse Kinematic singular postures. The method is adequate for computation, making use of a simple generalized eigenproblem.