Inertia Matrix Singularity of Series-Chain Spatial Manipulators With Point Masses

[+] Author and Article Information
Sunil K. Agrawal

Robotics Laboratory, Department of Computer Science, Stanford University, Stanford, CA 94305

J. Dyn. Sys., Meas., Control 115(4), 723-725 (Dec 01, 1993) (3 pages) doi:10.1115/1.2899204 History: Received March 01, 1991; Revised December 01, 1992; Online March 17, 2008


Often, the dynamic behavior of multi-degree-of-freedom mechanical systems such as robots and manipulators is studied by computer simulation. An important step in this simulation is the inversion of inertia matrix of the system. In singular configurations of the inertia matrix, the simulation is prone to large numerical errors. Usually, it is believed that an inertia matrix is always positive definite. In this paper, it is shown that for spatial series-chain manipulators, when the links are modeled as point masses, a multitude of configurations exists when the inertia matrix becomes singular. These singularities arise because point masses lead to incomplete models of the system.

Copyright © 1993 by The American Society of Mechanical Engineers
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