2018/08/29 by Marc Diesse, Diesse, Marc
Engineering · Computer Science · #Robotic Mechanisms and Dynamics #Robotic Path Planning Algorithms #Robot Manipulation and Learning
paper · pdf · doi:10.48550/arxiv.1808.10064
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.