Analytic singularity analysis of a 4-DOF parallel robot based on jacobian deficiencies

Hee Byoung Choi, Atsushi Konno, Masaru Uchiyama

    Research output: Contribution to journalArticlepeer-review

    8 Citations (Scopus)

    Abstract

    In this paper, analytic singularity analysis of a 4-DOF parallel robot H4 is addressed. Since a parallel manipulator consisting of several serial chains has complex singularities in the workspace, the determination of singular configurations is very important in design, trajectory planning, and control. The classical method to determine singular configurations is to find the determinant of the Jacobian matrix. However, the Jacobian matrix of a parallel manipulator is complex in general and thus it is not easy to find the determinant of the Jacobian matrix. Therefore, we focus on the analytic singularity analysis of a 4-DOF parallel robot H4 using Jacobian deficiencies. A subset of the whole singularities and the intuitively predictable ones are only derived using Jacobian matrix deficiency. Three type singularities, i.e., overmobility, undermobility and combined singularities, have been presented.

    Original languageEnglish
    Pages (from-to)378-384
    Number of pages7
    JournalInternational Journal of Control, Automation and Systems
    Volume8
    Issue number2
    DOIs
    Publication statusPublished - 2010 Apr

    Keywords

    • Jacobian deficiencies
    • Parallel robot
    • Singularity analysis

    ASJC Scopus subject areas

    • Control and Systems Engineering
    • Computer Science Applications

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