A screw syzygy with applications to robot singularity computation
Book chapter
Selig, JM and Donelan, P (2008). A screw syzygy with applications to robot singularity computation. in: Advances in Robot Kinematics: Analysis and Design Netherlands Springer. pp. 147 - 154
Authors | Selig, JM and Donelan, P |
---|---|
Abstract | A syzygy is a relation between invariants. In this paper a syzygy is presented between invariants of sequences of six screws under the action of the Euclidean group. This relation is useful in simplifying the computation of the determinant of a robot Jacobian and hence can be used to investigate the singularities of robot manipulators. © Springer Science+Business Media B.V. 2008. |
Page range | 147 - 154 |
Year | 2008 |
Book title | Advances in Robot Kinematics: Analysis and Design |
Publisher | Springer |
Place of publication | Netherlands |
ISBN | 9781402085994 |
Publication dates | |
01 Dec 2008 | |
Publication process dates | |
Deposited | 12 Dec 2016 |
Accepted | 01 Dec 2008 |
Digital Object Identifier (DOI) | https://doi.org/10.1007/978-1-4020-8600-7_16 |
Journal | Advances in Robot Kinematics: Analysis and Design |
Accepted author manuscript | License |
Accepted author manuscript | License File description Slides |
Permalink -
https://openresearch.lsbu.ac.uk/item/87q62
Download files
Restricted files
Accepted author manuscript
Under embargo indefinitely
114
total views160
total downloads1
views this month1
downloads this month