On the Topological Characterization of Robot Singularity Loci. A Catastrophe-Theoretic Approach
Two-dimensional slices of robot singularity loci contain, in general, cusps. This kind of points are important because their presence indicates the possibility of planning assembly-changing motions that do not meet any singularity. The critical points where the number of cusps changes, as the slice is swept, permit one to decompose a singularity locus into domains where the obtained slices share common topological properties. In this paper, it is shown how Catastrophe Theory provides a solid framework to classify these critical points up to certain types of equivalence giving precise local models to describe them. It is also shown how only three possible types of these critical points exist for generic robots. The presented results are exemplified on a serial 3R robot.
Federico Thomas Philippe Wenger
Institut de Rob(o)tica i Inform(a)tica Industrial (CSIC-UPC),Llorens Artigas 4-6,08028 Barcelona,Spa Institut de Recherche en Communications et Cybern(e)tique de Nantes (UMR-CNRS),1,rue la Noe,BP 92101
国际会议
2011 IEEE International Conference on Robotics and Automation(2011年IEEE世界机器人与自动化大会 ICRA 2011)
上海
英文
3940-3945
2011-05-09（万方平台首次上网日期，不代表论文的发表时间）