A screw syzygy with applications to robot singularity computation

Jon Selig

doi:10.1007/978-1-4020-8600-7_16

A screw syzygy with applications to robot singularity computation

Jon Selig

Research output: Chapter in Book/Report/Conference proceeding › Chapter › peer-review

Abstract

A syzygy is a relation between invariants. In this paper a syzygy is presented between invariants of sequences of six screws under the action of the Euclidean group. This relation is useful in simplifying the computation of the determinant of a robot Jacobian and hence can be used to investigate the singularities of robot manipulators. © Springer Science+Business Media B.V. 2008.

Original language	English
Title of host publication	Advances in Robot Kinematics: Analysis and Design
Place of Publication	Netherlands
Publisher	Springer
Number of pages	8
DOIs	https://doi.org/10.1007/978-1-4020-8600-7_16
Publication status	Published - 1 Dec 2008
Externally published	Yes

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AB - A syzygy is a relation between invariants. In this paper a syzygy is presented between invariants of sequences of six screws under the action of the Euclidean group. This relation is useful in simplifying the computation of the determinant of a robot Jacobian and hence can be used to investigate the singularities of robot manipulators. © Springer Science+Business Media B.V. 2008.

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A screw syzygy with applications to robot singularity computation

Abstract

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