李国栋, 陈宁新. 机器人工作空间的界限面及其位置奇异曲面的代数求解方法[J]. 机器人, 1988, 10(6): 25-31..
LI Guodong. ALGEBRAIC DERIVATION OF SINGULAR POSITION SURFACES AND WORKSPACE BOUNDARY SURFACES OF A MANIPULATOR. ROBOT, 1988, 10(6): 25-31..
Abstract：This paper presents a new method of the determination of singular position surfaces of the reference point on the hand,the boundary surfaces of workspace of anarbitrary n D.O.F manipulator,which may be plane,spherical,or spatial,withlimited revolute and prismatic joints.For illustration,5R,6R and 5R-P manipulatorsare taken as examples.Comparing with all other methods previously used in this subject,our method possesses higher precision and takes shorter CPU time.
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