Configuration Space Singularities of The Delta Manipulator
Abstract
We investigate the configuration space of the Delta-Manipulator, identify 24 points in the configuration space, where the Jacobian of the Constraint Equations looses rank and show, that these are not manifold points of the Real Algebraic Set, which is defined by the Constraint Equations.
0
Turn this paper into a lesson
ArcXiv compiles a structured reading guide from this paper's metadata: plain-English importance, contributions, prerequisite concepts, which sections to read first, flashcards, and a quiz. Grounded in the abstract, never invented.