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Reports (Research Report) Year : 2002

Using computer algebra tools to classify serial cuspidal manipulators

Abstract

In this paper we present a classification of 3-revolute-jointed manipulators based on the cuspidal behaviour. It was shown in a previous work that this ability to change posture without meeting a singularity is equivalent to the existence of a point in the workspace, such that a polynomial of degree four depending on the parameters of the manipulator and on the cartesian coordinates of the effector has a triple root. More precisely, from a partition of the parameters' space, such that in any connected component of this partition the number of triple roots is constant, we need to compute one sample point by cell, in order to have a full description, in terms of cuspidality, of the different possible configurations.
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Dates and versions

inria-00071932 , version 1 (23-05-2006)

Identifiers

  • HAL Id : inria-00071932 , version 1

Cite

Solen Corvez, Fabrice Rouillier. Using computer algebra tools to classify serial cuspidal manipulators. [Research Report] RR-4653, INRIA. 2002. ⟨inria-00071932⟩
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