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Partially flagged parallel manipulators: singularity charting and avoidance

Autor
Alberich, M.; Garolera, M.; Thomas, F.; Torras, C.
Tipus d'activitat
Article en revista
Revista
IEEE journal of robotics and automation
Data de publicació
2009-08
Volum
25
Número
4
Pàgina inicial
771
Pàgina final
784
DOI
https://doi.org/10.1109/TRO.2009.2018970 Obrir en finestra nova
Repositori
http://hdl.handle.net/2117/10186 Obrir en finestra nova
URL
http://dx.doi.org/10.1109/TRO.2009.2018970 Obrir en finestra nova
Resum
There are only three 6-SPS parallelmanipulatorswith triangular base and platform, i.e., the octahedral, the flagged, and the partially flagged, which are studied in this paper. The forward kinematics of the octahedralmanipulator is algebraically intricate, while those of the other two can be solved by three trilaterations. As an additional nice feature, the flagged manipulator is the only parallel platform for which a cell decomposition of its singularity locus has been derived. Here, we prove t...
Citació
Alberich, M. [et al.]. Partially flagged parallel manipulators: singularity charting and avoidance. "IEEE transactions on robotics", Agost 2009, vol. 25, núm. 4, p. 771-784.
Paraules clau
Configuration Space, Kinematics Singularities, Parallel Manipulators, Redundant Manipulators, Robot Design.
Grup de recerca
GEOMVAP - Geometria de Varietats i Aplicacions
ROBiri - Grup de Robòtica de l'IRI

Participants