Paper Info
Title
Singularity analysis of three-legged parallel robots based on passive-joint velocities
Abstract
Focusing on the instantaneous velocities of passive joints, a formulation approach is proposed for the instantaneous kinematics and singularity analysis of a class of three-legged parallel robots. Since only four 3×3 matrices need to be analyzed, the complexity of singularity analysis is significantly, reduced. Using the product-of-exponentials (POE) formula, the kinematic equations possess well-defined algebraic structures so that the instantaneous kinematics and singularity analysis algorithms can be readily and systematically formulated. Three types of singularities, i.e. the forward, inverse, and combined singularities, have been identified. A unified condition for various singularities is proposed. Significant geometric conditions are also presented for identifying singularity configurations that require simple computations.
Year
DOI
Venue
2001
10.1109/ROBOT.2001.932982
IEEE Transactions on Robotics and Automation
Keywords
Field
DocType
robot kinematics,instantaneous velocities,geometric conditions,product-of-exponentials formula,singularity analysis,forward singularities,legged locomotion,three-legged parallel robots,formulation approach,instantaneous kinematics,passive-joint velocities,jacobian matrices,well-defined algebraic structures,inverse singularities,combined singularities,production engineering,computational geometry,mechanical engineering,kinematics,motion planning,parallel robot,parallel robots
Motion planning,Robot control,Parallel manipulator,Kinematics,Control theory,Robot kinematics,Singularity,Control engineering,Gravitational singularity,Mobile robot,Mathematics
Conference
Volume
Issue
ISSN
3
4
1050-4729
ISBN
Citations 
PageRank 
0-7803-6576-3
13
1.31
References 
Authors
10
4
Name
Order
Citations
PageRank
Guilin Yang1607.50
I-Ming Chen256787.28
Wei Lin37914.50
Jorge Angeles4172.90