CONSTRAINT SINGULARITIES AS C-SPACE SINGULARITIES

机译：约束奇异性作为C空间奇异性

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This paper examines the phenomenon of constraint singularity of a parallel mechanism, as defined in a recent publication. We focus our attention on the fact that constraint singularities are always singular points of the configuration space of the kinematic chain. As such, they separate distinct configuration space regions and may allow transitions between dramatically different operation modes. All this is exemplified by a multi-operational parallel mechanism that can undergo a variety of transformations when passing through singular configurations.

机译：本文研究了最近发表的文章中定义的并行机制的约束奇异现象。我们将注意力集中在约束奇异性始终是运动链配置空间的奇异点这一事实上。这样，它们将不同的配置空间区域分开，并且可以允许在截然不同的操作模式之间进行转换。所有这一切都以多操作并行机制为例，该机制在通过单一配置时可能会进行各种转换。

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来源
《The Eight International Symposium on Advances in Robot Kinematics Jun, 2002 Caldes de Malavella in Spain》|2002年|p.183-192|共10页
会议地点 Caldes de Malavella(ES)
作者
Dimiter Zlatanov; Ilian A. Bonev; Clement M. Gosselin;
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作者单位

Laboratoire de robotique, Universite Laval, Quebec, QC, Canada G1K 7P4;

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原文格式 PDF
正文语种 eng
中图分类自动化技术、计算机技术;
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4. CONSTRAINT SINGULARITIES AS C-SPACE SINGULARITIES [C] . Dimiter Zlatanov, Ilian A. Bonev, Clement M. Gosselin International symposium on advances in robot kinematics . 2002

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CONSTRAINT SINGULARITIES AS C-SPACE SINGULARITIES

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