Below is a list of all relevant publications authored by Robotics Forum members.
@inproceedings{Baron:2018:10.1007/978-3-319-93188-3_22,
author = {Baron, N and Philippides, A and Rojas, N},
doi = {10.1007/978-3-319-93188-3_22},
pages = {187--194},
publisher = {Springer},
title = {A geometric method of singularity avoidance for kinematically redundant planar parallel robots},
url = {http://dx.doi.org/10.1007/978-3-319-93188-3_22},
year = {2018}
}
TY - CPAPER
AB - Methods for avoiding singularities of closed-loop robot mechanisms have been traditionally based on the value of the determinant or the condition number of the Jacobian. A major drawback of these standard techniques is that the closeness of a robot configuration to a singularity lacks geometric, physical interpretation, thus implying that it is uncertain how changes in the robot pose actually move further away the mechanism from such a problematic configuration. This paper presents a geometric approach of singularity avoidance for kinematically redundant planar parallel robots that eliminates the disadvantages of Jacobian-based techniques. The proposed method, which is based on the properties of instantaneous centres of rotation, defines a mathematical distance to a singularity and provides a reliable way of moving the robot further from a singular configuration without changing the pose of the end-effector. The approach is demonstrated on an example robot mechanism and the reciprocal of the condition number of the Jacobian is used to show its advantages.
AU - Baron,N
AU - Philippides,A
AU - Rojas,N
DO - 10.1007/978-3-319-93188-3_22
EP - 194
PB - Springer
PY - 2018///
SP - 187
TI - A geometric method of singularity avoidance for kinematically redundant planar parallel robots
UR - http://dx.doi.org/10.1007/978-3-319-93188-3_22
UR - http://hdl.handle.net/10044/1/58411
ER -