Parallel robots have an increasing use in industrial and medical applications. Many of these applications require the execution of contact tasks. However, parallel robots possess drive singularities, which act as invisible barriers inside their workspace. In this paper, we develop an integrated force and motion trajectory planning method for removing drive singularities of parallel robots which perform contact tasks. The method is based on satisfaction of a consistency condition at the singularity, which is stated in terms of the generalized velocities, accelerations and contact forces, provided that the derivative of the associated determinant with respect to time does not simultaneously vanish. It is shown that, in the presence of singularity crossing, either the motion or the force trajectory can be arbitrarily chosen while the other is planned to satisfy the necessary conditions.
Integrated force/motion trajectory design of parallel robots for singularity robustness during contact tasks
2023-01-01
20
Article (Journal)
Electronic Resource
English
Makina Mühendisliği , Makina Teorisi ve Dinamiği , Robotik , Mühendislik ve Teknoloji , Mechanical Engineering , Machine Theory and Dynamics , Robotics , Engineering and Technology , Mühendislik , Bilişim ve Teknoloji (ENG) , MÜHENDİSLİK , MEKANİK , Engineering , Computing & Technology (ENG) , MECHANICAL , Makine Mühendisliği , Hesaplamalı Mekanik , Otomotiv Mühendisliği , Fizik Bilimleri , Computational Mechanics , Automotive Engineering , Physical Sciences , parallel robot , contact task , motion trajectory , force trajectory , drive singularity , singularity removal
DDC: | 629 |
Force and motion trajectory tracking control of flexible-joint robots
Online Contents | 2000
|A Generic Trajectory Verifier for the Motion Planning of Parallel Robots
Online Contents | 2001
|Singularity Maps of Space Robots and their Application to Gradient-based Trajectory Planning
German Aerospace Center (DLR) | 2020
|