Newsgroups: comp.robotics
Path: brunix!uunet!utcsri!torn!csd.unb.ca!morgan.ucs.mun.ca!raghu
From: raghu@morgan.ucs.mun.ca (Raghu B)
Subject: PUMA-560 ARM _ singular points
Message-ID: <1992Aug12.171255.13584@morgan.ucs.mun.ca>
Keywords: PUMA,SINGULAR POINTS
Organization: Memorial University of Newfoundland
Date: Wed, 12 Aug 1992 17:12:55 GMT
Lines: 12

Can any one tell me any reference books are any valuable materials,
from where I can find the singular points for a PUMA-560 arm.
I know that they are the extreme ends of the workspace. But
I don't know how to find those values. Is there any algorithm
or any set of equations which can be solved to get those arm
joint angles theta1, theta2 and theta3.

	Any kind of help is highly appreciated.


				Raghu .B

