Uniqueness domains and non singular assembly mode changing trajectories

摘要：

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.

作者: D. Chablat G. Moroz P. Wenger

作者单位: IRCCyN,Nantes,44321 France

会议类型: 国际会议

会议名称: 2011 IEEE International Conference on Robotics and Automation(2011年IEEE世界机器人与自动化大会 ICRA 2011)

会议地点: 上海

会议语种:英文

页码: 3946-3951

在线出版日期: 2011-05-09（万方平台首次上网日期，不代表论文的发表时间）