Mechanical Sciences
Mechanical Sciences
Mechanical Sciences
Articles | Volume 7, issue 1
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

Viewed

Total article views: 1,452 (including HTML, PDF, and XML)
HTML PDF XML Total Supplement BibTeX EndNote
892 489 71 1,452 249 89 79
  • HTML: 892
  • PDF: 489
  • XML: 71
  • Total: 1,452
  • Supplement: 249
  • BibTeX: 89
  • EndNote: 79
Views and downloads (calculated since 21 Jan 2016)
Cumulative views and downloads (calculated since 21 Jan 2016)
Latest update: 21 Nov 2024
Download
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.
Read more