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

D. N. Nenchev, M. Uchiyama

    研究成果: Conference article査読

    20 被引用数 (Scopus)

    抄録

    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.

    本文言語English
    ページ(範囲)1864-1870
    ページ数7
    ジャーナルProceedings - IEEE International Conference on Robotics and Automation
    2
    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 221996 4 28

    ASJC Scopus subject areas

    • ソフトウェア
    • 制御およびシステム工学
    • 人工知能
    • 電子工学および電気工学

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