Presentado al 13th International Symposium on Advances in Robot Kinematics (ARK) celebrado en Austria del 24 al 28 de junio de 2012. ; The study of the singularity set is of utmost importance to understand the local and global properties of a manipulator. After reviewing the mathemat- ical conditions that characterize this set, and the physical consequences of traversing each singularity type, this paper shows that its defining equations can be formulated in an amenable manner on planar manipulators, allowing to devise a conceptually-simple technique for isolating the set exhaustively, even in higher-dimensional cases. As a result, the method obtains a collection of small boxes bounding the location of all points of the set, which can be computed at any required precision in principle. Such boxes can be projected to the input or output coordinate spaces of the manipulator, obtaining informative diagrams, or portraits, on the global motion capabilities of the underlying mechanism. Examples are included that show the application of the method to simple manipulators, and to complex mechanisms that would be difficult to analyze using common-practice procedures. ; This work has been partially funded by the Spanish Government under contract DPI2010-18449, and by a Juan de la Cierva contract supporting the second author. ; Peer reviewed
Planning singularity-free force-feasible paths on the Stewart platform
2012-01-01
Conference paper
Electronic Resource
English
DDC: | 629 |
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