A formal-numerical approach to determine the presence of singularity within the workspace of a parallel robot.

Jean-Pierre Merlet 1 David Daney 1
1 COPRIN - Constraints solving, optimization and robust interval analysis
CRISAM - Inria Sophia Antipolis - Méditerranée , ENPC - École des Ponts ParisTech
Abstract : Determining if there is a singularity within a given workspace of a parallel robot is an important step during the design process of this type of robot. As this singular configuration must be avoided the designer may be interested only in a straight yes/no answer. We consider in this pap er a Gough type parallel robot and we present algorithms which enable to determine if there is any singularity within a 6D workspace expressed either in term of generalized coordinates (position/orientation) of the platform or articular coordinates (lengths of the legs).
Type de document :
Communication dans un congrès
In 2nd Workshop on Computational Kinematics, May 2001, Seoul, South Korea. pp.167-176, 2001
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Dernière modification le : samedi 27 janvier 2018 - 01:30:49
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  • HAL Id : hal-00906482, version 1

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Jean-Pierre Merlet, David Daney. A formal-numerical approach to determine the presence of singularity within the workspace of a parallel robot.. In 2nd Workshop on Computational Kinematics, May 2001, Seoul, South Korea. pp.167-176, 2001. 〈hal-00906482〉

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