Singularity-consistent path planning and motion control through instantaneous self-motion singularities of parallel-link manipulators

Dragomir N. Nenchev, Masaru Uchiyama

    Research output: Contribution to journalArticlepeer-review

    18 Citations (Scopus)

    Abstract

    The newly proposed singularity-consistent path tracking approach is applied to nonredundant parallel-link manipulators. We analyze the singularities of such manipulators under the assumption that the output-link moves on a pre-defined and parameterized path. Special attention is paid to the so-called instantaneous self-motion type singularity. We propose a velocity-command generator type closed-loop controller that guarantees asymptotic stability when tracking paths through such singularities. As a comprehensive analytical example we use a planar five bar mechanism. Results from computer simulations with the five bar mechanism and the HEXA parallel robot are also presented.

    Original languageEnglish
    Pages (from-to)27-36
    Number of pages10
    JournalJournal of Robotic Systems
    Volume14
    Issue number1
    DOIs
    Publication statusPublished - 1997 Jan 1

    ASJC Scopus subject areas

    • Control and Systems Engineering

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