ICRA 2011 Paper Abstract

Close

Paper WeP202.2

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 December 8, 2019

Keywords Kinematics, Parallel Robots, Motion and Path Planning

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

 

 

Technical Content © IEEE Robotics & Automation Society

This site is protected by copyright and trademark laws under US and International law.
All rights reserved. © 2002-2019 PaperCept, Inc.
Page generated 2019-12-08  01:59:37 PST  Terms of use