Titlebook: Singularities of Robot Mechanisms; Numerical Computatio Oriol Bohigas,Montserrat Manubens,Lluís Ros Book 2017 Springer International Publis

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Introduction,ges take place in the kinetostatic performance of a mechanism. Rigidity or dexterity losses arise, and there may appear unresolvable or uncontrollable end-effector forces, among other effects (Figs. 1.1 and 1.2). The study of singularities is thus motivated by a desire to avoid these configurations,

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Singularity Types, singularity, and with the kind of analytical methods needed to detect such phenomena. To help reversing this trend, and to provide necessary background for the rest of the book, this chapter presents the possible singularity types, their interpretation, and the mathematical conditions characterisin

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Workspace Determination,e explain how its boundary can be found by computing a set of generalised singularities, and how the points of such set can be classified into traversable or barrier singularities. A detailed map of the workspace is obtained as a result, in which the interior and exterior regions, together with the

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Singularity-Free Path Planning,ask, but we have shown how the set projections to the input and output spaces generate very rich diagrams, called portraits, summarising the global motion capabilities of a mechanism. These diagrams constitute safe navigation maps because any path in them avoiding a projected singularity always corr

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Introduction, end-effector forces, among other effects (Figs. 1.1 and 1.2). The study of singularities is thus motivated by a desire to avoid these configurations, but it may be helpful to operate close to them sometimes, such as when handling heavy objects, drilling, or fine-positioning, whenever extreme force or motion transformation ratios may be required.

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