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- W2390765366 abstract "A new approach to the singularity analysis of manipulators is presented. The joint axis linear dependence is determined by using classified line varieties, so that not only the singular configurations of the manipulator can be identified but also the specific axes becoming linearly dependent can be recognized. The task space feasible motions are identified by using reciprocal screws. By isolating the linear dependent columns and rows in the Jacobian matrix, the corresponding singular Jacobian matrix is simplified from 66 to 55, so that the exact solutions for the manipulator are obtained near singular configurations. In the end, some simulation results for PUMA manipulator are given to demonstrate the effectiveness of this method." @default.
- W2390765366 created "2016-06-24" @default.
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- W2390765366 date "2003-01-01" @default.
- W2390765366 modified "2023-09-26" @default.
- W2390765366 title "Study and Simulation of Manipulator Kinematic Solution at Singular Configurations" @default.
- W2390765366 hasPublicationYear "2003" @default.
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