Abstract
A generic, or more properly 1-generic, serial manipulator is one whose forward kinematic mapping exhibits singularities of given rank in a regular way. In this paper, the product-of-exponentials formulation of a kinematic mapping together with the Baker-Campbell-Hausdorff formula for Lie groups is used to derive an algebraic condition for the regularity. © 2008 Springer Science+Business Media B.V.
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APA
Donelan, P. (2006). Genericity conditions for serial manipulators. In Advances in Robot Kinematics: Analysis and Design (pp. 185–192). Springer Netherlands. https://doi.org/10.1007/978-1-4020-8600-7_20
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