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Partially flagged parallel manipulators: singularity charting and avoidance

Author
Alberich, M.; Garolera, M.; Thomas, F.; Torras, C.
Type of activity
Journal article
Journal
IEEE journal of robotics and automation
Date of publication
2009-08
Volume
25
Number
4
First page
771
Last page
784
DOI
https://doi.org/10.1109/TRO.2009.2018970 Open in new window
Repository
http://hdl.handle.net/2117/10186 Open in new window
URL
http://dx.doi.org/10.1109/TRO.2009.2018970 Open in new window
Abstract
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...
Citation
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.
Keywords
Configuration space, kinematics singularities, parallel manipulators, redundant manipulators, robot design.
Group of research
GEOMVAP - Geometry of Manifolds and Applications
ROBiri - IRI Robotics Group

Participants