Name
Abstract | ||
|---|---|---|
Since a parallel robot is always out of control at a singularity and its neighborhood, it should work far away from singular configurations. However, how to measure the closeness between a pose and a singular configuration is still a challenging problem. This paper presents a new measure for closeness to singularities of parallel robots. Several performance indices are introduced by taking into account motion/force transmissibility. By using these indices, a uniform metric can be founded to represent the closeness to singularities for all types of parallel robots. |
Year | DOI | Venue |
|---|---|---|
2011 | 10.1109/ICRA.2011.5979694 | international conference on robotics and automation |
Keywords | Field | DocType |
singular configuration,parallel robot,motion control,robots,singularity analysis,motion/force transmissibility,force control,uniform metric | Parallel manipulator,Topology,Motion control,Kinematics,Control theory,Closeness,Singularity,Gravitational singularity,Robot,Transmissibility (vibration),Mathematics | Conference |
Volume | Issue | ISSN |
null | null | 1050-4729 |
ISBN | Citations | PageRank |
978-1-61284-386-5 | 0 | 0.34 |
References | Authors | |
3 | 4 | |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Chao Wu | 1 | 0 | 0.34 |
| Xin-Jun Liu | 2 | 35 | 10.04 |
| Fugui Xie | 3 | 14 | 11.33 |
| Jinsong Wang | 4 | 208 | 31.68 |