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.
|ジャーナル||Proceedings - IEEE International Conference on Robotics and Automation|
|出版ステータス||Published - 1996 1 1|
|イベント||Proceedings of the 1996 13th IEEE International Conference on Robotics and Automation. Part 1 (of 4) - Minneapolis, MN, USA|
継続期間: 1996 4 22 → 1996 4 28
ASJC Scopus subject areas