著者

浦久保 孝光 万 象隆 真下 智昭

出版者

一般社団法人 システム制御情報学会

雑誌

システム制御情報学会論文誌 (ISSN:13425668)

巻号頁・発行日

vol.28, no.9, pp.377-383, 2015-09-15 (Released:2015-12-08)

参考文献数

19

被引用文献数

1

---

For a serial linkage mechanism, the kinematic relationship between the end effector and the joint angles is nonlinear. The kinematics highly affects the dynamics of the mechanism near singular configurations where the relationship is singular. In this paper, we examine dynamic characteristics of singular configurations for a two-link robot arm, and show that the singular configurations are advantageous in reducing the joint torques necessary to achieve the task of pulling a heavy object.