Singularity Analysis of Kinova’s Link 6 Robot Arm via Grassmann Line Geometry
Milad Asgari,Ilian A. Bonev,Clément Gosselin,Milad Asgari,Ilian A. Bonev,Clément Gosselin
Unlike parallel robots, for which hundreds of different architectures have been proposed, the vast majority of six-degree-of-freedom (DOF) serial robots have one of two simple architectures. In both architectures, the inverse kinematics can be solved in closed form and the singularities described by trivial geometric and algebraic conditions. These conditions can be readily obtained by analyzing t...
