1
$\begingroup$

I would really appreciate it if somebody could help me calculate the singular configuration of this simple manipulator3 link manipulator

I am confused since J is a 2x3 matrix and I cannot simply calculate the derivative.

Thanks in advance.

Improve this question
$\endgroup$
2
  • $\begingroup$ Are you sure J is 2x3? it seems 3x3 to me $\endgroup$
    – 50k4
    Jun 2, 2017 at 19:50
  • $\begingroup$ The third line refers to the angular velocity. I am looking for the linear velocity singularities (the first two lines, generally 2xn ). I was thinking maybe det (JJ^T)=0. $\endgroup$
    – Tasos Kontaxoglou
    Jun 2, 2017 at 22:32

2 Answers 2

Reset to default
1
$\begingroup$

If $J$ is not square, solve $$|J^TJ| = 0$$ for $\theta_i$.

Improve this answer
$\endgroup$
2
$\begingroup$

Singular configurations are configurations at which the Jacobian is rank-deficient. In this case $J$ is a square matrix, you can find conditions for singularity by solving $\det(J) = 0$.

The last row of $J$ being all ones means that no matter the configuration, you can always generate some angular velocity. This actually implies that the conditions you get from solving $\det(J) = 0$ will be the conditions for linear velocity singularities.

Improve this answer
$\endgroup$

Your Answer

By clicking “Post Your Answer”, you agree to our terms of service and acknowledge that you have read and understand our privacy policy and code of conduct.

Not the answer you're looking for? Browse other questions tagged or ask your own question.