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Stratifying the singularity loci of a class of parallel manipulators

Autor
Torras, C.; Thomas, F.; Alberich, M.
Tipus d'activitat
Article en revista
Revista
IEEE journal of robotics and automation
Data de publicació
2006-02
Volum
22
Número
1
Pàgina inicial
23
Pàgina final
32
DOI
https://doi.org/10.1109/TRO.2005.858861 Obrir en finestra nova
URL
http://ieeexplore.ieee.org/xpl/RecentIssue.jsp?punumber=8860 Obrir en finestra nova
Resum
Some in-parallel robots, such as the 3-2-1 and the 3/2 manipulators, have attracted attention because their forward kinematics can be solved by three consecutive trilaterations. In this paper, we identify a class of these robots, which we call flagged manipulators, whose singularity loci admit a well-behaved decomposition, i.e., a stratification, derived from that of the flag manifold. Two remarkable properties must be highlighted. First, the decomposition has the same topology for all members i...
Grup de recerca
GEOMVAP - Geometria de Varietats i Aplicacions
KRD - Cinemàtica i Disseny de Robots
ROBiri - Grup de Robòtica de l'IRI

Participants