Chablat, Damien (IRCCyN), Moroz, Guillaume (INRIA), Wenger, Philippe (Ecole Centrale de Nantes)

Uniqueness Domains and Non Singular Assembly Mode Changing Trajectories

Scheduled for presentation during the Regular Sessions "Kinematics of Serial and Parallel Robots" (WeP202), Wednesday, May 11, 2011, 15:40−15:55, Room 3C

2011 IEEE International Conference on Robotics and Automation, May 9-13, 2011, Shanghai International Conference Center, Shanghai, China

This information is tentative and subject to change. Compiled on July 14, 2020

Abstract

Parallel robots admit generally several solutions to the direct kinematics problem. The aspects are associated with the maximal singularity free domains without any singular configurations. Inside these regions, some trajectories are possible between two solutions of the direct kinematic problem without meeting any type of singularity: non-singular assembly mode trajectories. An established condition for such trajectories is to have cusp points inside the joint space that must be encircled. This paper presents an approach based on the notion of uniqueness domains to explain this behaviour