id: 05167647
dt: j
an: 05167647
au: Stanišić, M.M.; Goehler, C.M.
ti: Singular planes of serial wrist-partitioned manipulators and their
    singularity metrics.
so: Mech. Mach. Theory 42, No. 8, 889-902 (2007).
py: 2007
pu: Elsevier Science Ltd. (Pergamon), Oxford
la: EN
cc: 
ut: 
ci: 
li: doi:10.1016/j.mechmachtheory.2006.10.008
ab: Summary: Current metrics measuring proximity to kinematic singularities are
    based on mathematical characteristics of the Jacobian matrix such as
    manipulability or the conditioning index. This paper develops a
    geometric representation of the kinematic singularities of
    wrist-partitioned manipulators in terms of singular planes. It is shown
    that the determinant of the Jacobian matrix is a product of the
    distances from the controlled points on the end-effector to these
    singular planes. The paper proposes that for wrist-partitioned
    manipulators these distances can be used as singularity metrics which
    directly measure proximity to kinematic singularities. The Puma
    manipulator is used as an example.
rv: