Multi-body singularity equations

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Title:	Multi-body singularity equations
Author:	Bohigas Nadal, Oriol; Ros Giralt, Lluís
Other authors:	Institut de Robòtica i Informàtica Industrial
Abstract:	This technical report explains how to obtain a system of equations that encodes the singularities of a multi-body system with respect to some of its configuration variables. The system is obtained in a way that makes it appropiate for the CUIK software.
Subject(s):	-Àrees temàtiques de la UPC::Informàtica::Robòtica -Robots--Kinematics Manipulators (Mechanism) -Singularities Multi-body CUIK -Robots -- Cinemàtica -- Models matemàtics -Classificació INSPEC::Automation::Robots::Manipulators -Classificació INSPEC::Automation::Robots::Robot kinematics
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Document type:	Article - Draft Report
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