Singularity Prediction for Parallel Robots for Improvement of Sensor-Integrated Assembly

✍ Scribed by J. Hesselbach; J. Maaß; C. Bier

• Publisher: International Academy for Production Engineering
• Year: 2005
• Tongue: English
• Weight: 926 KB
• Volume: 54
• Category: Article
• ISSN: 0007-8506
• DOI: 10.1016/s0007-8506(07)60120-6

✦ Synopsis

The frequent occurrences of singularities inside a parallel robot's workspace and in certain cases of sensor integration non-deterministic end-effector trajectories demand a powerful online singularity prediction and a control design that is capable of displacing motion algorithms. The theory of a power-inspired index of closeness to a singularity pose for parallel kinematic manipulators is illumined and presented in this paper, supported by comparison to Grassmann geometry and experimental results achieved on a HEXA robot. An experimentally validated strategy for jerk bounded braking the end-effector while approaching a singularity and an algorithm for departing it again are presented as well.