Spatial Freedom, Singularity Surfaces and Workspaces of Serial Kinematic Chains
نویسندگان
چکیده
Keith L. Doty Professor in Electrical Engineering 515 Weil Hall Machine Intelligence Laboratory Department of Electrical Engineering University of Florida Gainesville, FL 32611 Telephone: (904)392-4951 email: [email protected] email: [email protected] ABSTRACT This paper develops a symbolic method for calculating a manipulator’s singularity manifold in configuration space. The concept of spatial order (SO) and spatial degrees of freedom (SDOF) permits an unambiguous definition of manipulator redundancy and non-redundancy. Task spaces and task space singularities depict a manipulator’s motion capability in different configuration space manifolds. The theory introduces the notion of a configuration dependent workspace boundary, which necessarily includes the workspace boundary, but not vice-versa. A methodology for mapping the configuration dependent workspace boundaries into cartesian boundaries demonstrates how the manipulator loses differential motion capability on cartesian surfaces not normally associated with a workspace boundary.
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