par Becquet, Marc 
Référence Robotics and autonomous systems, 4, 1, page (73-83)
Publication Publié, 1988-03
Référence Robotics and autonomous systems, 4, 1, page (73-83)
Publication Publié, 1988-03
Article révisé par les pairs
| Résumé : | 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. |
