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On the regularity of the inverse jacobian of parallel robots

Jean-Pierre Merlet 1 Peter Donelan 2
1 COPRIN - Constraints solving, optimization and robust interval analysis
CRISAM - Inria Sophia Antipolis - Méditerranée , ENPC - École des Ponts ParisTech
Abstract : Checking the regularity of the inverse jacobian matrix of a parallel robot is an essential element for the safe use of this type of mechanism. Ideally such check should be made for all poses of the useful workspace of the robot or for any pose along a given trajectory and should take into account the uncertainties in the robot modeling and control. We propose various methods that facilitate this check. We exhibit especially a sufficient condition for the regularity that is directly related to the extreme poses that can be reached by the robot.
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https://hal.inria.fr/inria-00001085
Contributor : Jean-Pierre Merlet <>
Submitted on : Thursday, February 2, 2006 - 12:31:46 PM
Last modification on : Thursday, April 5, 2018 - 10:55:34 AM
Long-term archiving on: : Saturday, April 3, 2010 - 10:05:37 PM

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  • HAL Id : inria-00001085, version 1

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Jean-Pierre Merlet, Peter Donelan. On the regularity of the inverse jacobian of parallel robots. ARK, Jun 2006, Ljubljana. ⟨inria-00001085⟩

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