Abstract:
We apply our newly proposed singularity-consistent path tracking approach to nonredundant parallel-link manipulators. We analyze the singularities of such mechanisms, ass...Show MoreMetadata
Abstract:
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 parametric 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 the HEXA parallel robot structure.
Date of Conference: 22-28 April 1996
Date Added to IEEE Xplore: 06 August 2002
Print ISBN:0-7803-2988-0
Print ISSN: 1050-4729