Singularity-consistent path planning and control of parallel robot motion through instantaneous-self-motion type singularities

D. N. Nenchev, M. Uchiyama

    Research output: Contribution to journalConference article

    17 Citations (Scopus)

    Abstract

    We apply our newly proposed singularity-consistent path tracking approach to nonredundant parallel-link manipulators. We analyze the singularities of such mechanisms, assuming that the output-link moves on a pre-defined and parameterizable path. Especially, we focus on the so-called instantaneous self-motion type singularity. We propose a closed-loop controller that guarantees asymptotic stability when tracking paths through such a singularity. As a comprehensive analytical example we use a planar five bar mechanism. A computer simulation study is also presented, using the same example, as well as a HEXA parallel robot structure.

    Original languageEnglish
    Pages (from-to)1864-1870
    Number of pages7
    JournalProceedings - IEEE International Conference on Robotics and Automation
    Volume2
    Publication statusPublished - 1996 Jan 1
    EventProceedings of the 1996 13th IEEE International Conference on Robotics and Automation. Part 1 (of 4) - Minneapolis, MN, USA
    Duration: 1996 Apr 221996 Apr 28

    ASJC Scopus subject areas

    • Software
    • Control and Systems Engineering
    • Artificial Intelligence
    • Electrical and Electronic Engineering

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