Title:
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Multi-body singularity equations
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Author:
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Bohigas Nadal, Oriol; Ros Giralt, Lluís
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Other authors:
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Institut de Robòtica i Informàtica Industrial |
Abstract:
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This technical report explains how to obtain a system of equations that encodes the singularities of a multi-body system with respect to some of its configuration variables. The system is obtained in a way that makes it appropiate for the CUIK software. |
Subject(s):
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-Àrees temàtiques de la UPC::Informàtica::Robòtica -Robots--Kinematics
Manipulators (Mechanism) -Singularities
Multi-body
CUIK -Robots -- Cinemàtica -- Models matemàtics -Classificació INSPEC::Automation::Robots::Manipulators -Classificació INSPEC::Automation::Robots::Robot kinematics |
Rights:
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Document type:
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Article - Draft Report |
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