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
AuthorsSelig, 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 range147 - 154
Year2008
Book titleAdvances in Robot Kinematics: Analysis and Design
PublisherSpringer
Place of publicationNetherlands
ISBN9781402085994
Publication dates
Print01 Dec 2008
Publication process dates
Deposited12 Dec 2016
Accepted01 Dec 2008
Digital Object Identifier (DOI)https://doi.org/10.1007/978-1-4020-8600-7_16
JournalAdvances in Robot Kinematics: Analysis and Design
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