A Study on Dynamic Characteristics of Two-link Robot Arm near Singular Congurations
Takateru Urakubo, Xianglong Wan, Tomoaki Mashimo
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.