Article ID | Journal | Published Year | Pages | File Type |
---|---|---|---|---|
10673724 | CIRP Annals - Manufacturing Technology | 2005 | 4 Pages |
Abstract
The frequent occurrences of singularities inside a parallel robot's workspace and in certain cases of sensor integration non-deterministic end-effector trajectories demand a powerful online singularity prediction and a control design that is capable of displacing motion algorithms. The theory of a power-inspired index of closeness to a singularity pose for parallel kinematic manipulators is illumined and presented in this paper, supported by comparison to Grassmann geometry and experimental results achieved on a HEXA robot. An experimentally validated strategy for jerk bounded braking the end-effector while approaching a singularity and an algorithm for departing it again are presented as well.
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Physical Sciences and Engineering
Engineering
Industrial and Manufacturing Engineering
Authors
J. Hesselbach, J. MaaÃ, C. Bier,