Dynamic analysis of parallel manipulators under the singularity-consistent parameterization

D. N. Nenchev, S. Bhattacharya, Masaru Uchiyama

    Research output: Contribution to journalArticlepeer-review

    22 Citations (Scopus)


    Based on the singularity-consistent parameterization framework, we analyze motion at direct kinematics singularities for a broad class of parallel manipulators. It will be shown that taking into account the instantaneous motion direction of the output link, additional insight can be gained for the possibility to move through such singularities. We argue that direct kinematics singularities should be analyzed over the dual space which, in turn, involves the state of the passive joints. We perform such an analysis based on the conditioning of the equation of motion. It is shown that, depending on the instantaneous motion direction, at certain direct kinematics singularities it is possible to obtain a consistent solution in terms of torque. This implies that in combination with the continuity of the singularity-consistent inverse kinematic solution, motion through such direct kinematics singularities is feasible.

    Original languageEnglish
    Pages (from-to)375-384
    Number of pages10
    Issue number4
    Publication statusPublished - 1997 Jan 1


    • Dynamic analysis
    • Parallel manipulators
    • Parametrization framework

    ASJC Scopus subject areas

    • Control and Systems Engineering
    • Software
    • Mathematics(all)
    • Computer Science Applications


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