This paper is concerned with pose estimation and visual servoing from four points. We determine the configurations for which corresponding Jacobian matrix becomes singular, leading to inaccurate unstable results. Using an adequate representation algebraic geometry, it shown that, any orientation between camera object, there are always two six singular locations of in generic case where points n...

in this paper, we investigate the canonical property of solutions of a system of differentialequations having a singularity and turning point of even order. first, by a replacement, we transform thesystem to the sturm-liouville equation with a turning point. using the asymptotic estimates for a specialfundamental system of solutions of sturm-liouville equation, we study the infinite product rep...

This paper addresses the singularity analysis of a fully parallel manipulators with five degrees of freedom, based on line geometry. Starting from the inverse Jacobian matrix, which maps the moving platform’s twist to the actuated joint velocities, the singularity analysis is transformed into a search for specific geometric conditions, which apply, when the manipulator is in a singular pose. Fu...

The significance of singularities in the design and control of robot manipulators is well known and there is an extensive literature on the determination and analysis of singularities for a wide variety of serial and parallel manipulators—indeed such an analysis is an essential part of manipulator design. Singularity theory provides methodologies for a deeper analysis with the aim of classifyin...