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Singular configurations and workspace of robots
Authors
Marc Becquet
Publication date
1 March 1988
Publisher
Doi
Cite
Abstract
The purpose of this paper is to explain the set-up of a general method for finding the singular configurations of a robot. Open en closed chain manipulators made out of links with single degree of freedom joints are considered. The manipulator singular configurations corresponding to inner and outer limits of workspace are found by the study of analytical relations between the end effector location and the joint coordinates using the Jacobian matrix. © 1988.SCOPUS: ar.jinfo:eu-repo/semantics/publishe
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Last time updated on 23/02/2017