ROAug 29, 2018
Configuration Space Singularities of The Delta Manipulator
arXiv:1808.10064v1
Originality Synthesis-oriented
AI Analysis
This addresses singularities in parallel manipulators for robotics, but appears incremental as it focuses on specific mathematical analysis of an existing design.
The researchers investigated the configuration space of the Delta manipulator, identifying 24 singular points where the Jacobian loses rank and showing these are not manifold points of the real algebraic set defined by constraint equations.
We investigate the configuration space of the Delta-Manipulator, identify 24 points in the configuration space, where the Jacobian of the Constraint Equations looses rank and show, that these are not manifold points of the Real Algebraic Set, which is defined by the Constraint Equations.