Singularities, Configurations, and Displacement Functions for Manipulators

A manipulator is considered as a system of rigid bodies interconnected by joints that permit relative motions with certain degrees of freedom. Nonlinear equations that relate the parameters of relative motions generally do not provide unique solutions, and consequently the bodies (links) of the mechanical system may form various configuratxons. The authors propose a method for determination of the configurations of this mechanical system and associated displacement functions that are based on the determination of singularities in motion of the mechanical system. Applica tion to the execution of prescribed trajectories by the Uni mation Puma Manipulator is also presented.