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- W2041321921 abstract "Generic manipulators possess the desireable properties that their set of singulartities is a smooth manifold, and that the drop of rank of the manipulator Jacobian is bounded. A sufficient condition for genericity is the transverse-regularity of its Jacobian mapping in any configuration. In this paper a necessary and sufficient condition for transverse-regularity is presented. The condition is based on the manipulator's joint screws and their screw products. It is also shown that a manipulator is non-generic if it can attain a pose where the rank of the manipulator's screw system together with the screw products is not the maximal rank of the Jacobian." @default.
- W2041321921 created "2016-06-24" @default.
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- W2041321921 date "2009-05-01" @default.
- W2041321921 modified "2023-10-16" @default.
- W2041321921 title "A genericity condition for general serial manipulators" @default.
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- W2041321921 doi "https://doi.org/10.1109/robot.2009.5152189" @default.
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