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A Short Note on Point Singularities for Robot Manipulators

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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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Authors and Affiliations

  1. Department of Industrial Sciences and Technology, Karel de Grote-Hogeschool, Antwerp, Belgium

    Rudi Penne & Erwin Smet

  2. Department of Mathematics and Computer Science, University of Antwerp, Antwerp, Belgium

    Przemyslaw Klosiewicz

Authors
  1. Rudi Penne
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  2. Erwin Smet
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  3. Przemyslaw Klosiewicz
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Correspondence to Rudi Penne.

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Penne, R., Smet, E. & Klosiewicz, P. A Short Note on Point Singularities for Robot Manipulators. J Intell Robot Syst 62, 205–216 (2011). https://doi.org/10.1007/s10846-010-9444-5

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  • DOI: https://doi.org/10.1007/s10846-010-9444-5

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