A formal-numerical approach to determine the presence of singularity within the workspace of a parallel robot. - Archive ouverte HAL Access content directly
Conference Papers Year : 2001

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

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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).
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Dates and versions

hal-00906482 , version 1 (19-11-2013)

Identifiers

  • HAL Id : hal-00906482 , version 1

Cite

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. ⟨hal-00906482⟩
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