The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)
Online ISSN : 2424-3124
2006
Session ID : 1A1-B08
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1A1-B08 Motion Characteristics through the Singular Configurations of S-R-S Manipulator
Yasuyoshi TAKI, Koichi SUGIMOTO
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Keywords: Singularity, Manipulator, Lie Algebra, Screw theory, Motor Algebra
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Abstract

In the SRS manipulator The singular configuration can be classified by a tedious movement. The minion orbit and the tedious movement orbit that passes a different kind of singular configuration are considered.

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© 2006 The Japan Society of Mechanical Engineers
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