Singular Postures Concerning the 7-DOF SPRPP Manipulator

I. Juárez Campos (Mexico)


Mathematical Modelling, Robotic Design


A 7-DOF SPRPP manipulator is an open spatial kinematic chain conceived in regard of the helical transformation described by Rodrigues’ formula and the Chasles’ Theorem. This manipulator possesses its own inverse kinematics described by closed-form equations, which become singular for some postures. At singular configurations there are infinitesimal motions that are unachievable; that is, the manipulator end-effector cannot move in certain directions. Singular configurations are also related to non-uniqueness of solutions of the inverse kinematics. For many applications it is important to plan manipulator motions in such a way that singular configurations are avoided.

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