Guaranteed detection of the singularities of 3R robotic manipulators

Benoit, R.; Delanoue, N.; Lagrange, S.; Wenger, P.

doi:https://doi.org/10.5194/ms-7-31-2016

Articles | Volume 7, issue 1

https://doi.org/10.5194/ms-7-31-2016

© Author(s) 2016. This work is distributed under
the Creative Commons Attribution 3.0 License.

https://doi.org/10.5194/ms-7-31-2016

© Author(s) 2016. This work is distributed under
the Creative Commons Attribution 3.0 License.

Articles | Volume 7, issue 1

Research article

|

21 Jan 2016

Research article |

| 21 Jan 2016

Guaranteed detection of the singularities of 3R robotic manipulators

R. Benoit, N. Delanoue, S. Lagrange, and P. Wenger

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Short summary

We propose two Interval Analysis based methods to characterize novel robots. Interval analysis theory allows us to consider intervals instead of values, making it possible to use computer algorithms, without the drawback of rounding errors. The first proposed method can isolate chosen interest points and is applied to the characteristic cusp and node points of 3R orthogonal manipulators. The second method encloses the robot available postures, giving complementary information on the novel robot.