New interval-based approach to determine the guaranteed singularity-free workspace of parallel robots

verfasst von

Jens Kotlarski, Roderick De Nijs, H. Abdellatif, Bodo Heimann

Abstract

In the present paper we introduce an improved method to obtain the guaranteed singularity-free workspace of planar parallel kinematic machines. A geometric condition for the existence of singularities is extended to be used in interval analysis. Therefore, we eliminate the need of calculating the inconvenient interval form of the Jacobian's determinant. Hence, an appropriate description of the singularity-free workspace is obtained and the computational effort is reduced significantly. With the interval-based approach error sources, like manufacturing tolerances, can be considered. Consequently, regions that do not satisfy the proposed condition can be guaranteed not to have any type-two singularities. Several analysis examples demonstrate the efficiency of the proposed geometrical-based solver in comparison to existing solvers, i.e. based on the Jacobian's determinant.

Organisationseinheit(en)

Institut für Mechatronische Systeme

Externe Organisation(en)

Universidad Politecnica de Valencia

Typ

Aufsatz in Konferenzband

Seiten

1256-1261

Anzahl der Seiten

6

Publikationsdatum

2009

Publikationsstatus

Veröffentlicht

Peer-reviewed

Ja

ASJC Scopus Sachgebiete

Software, Steuerungs- und Systemtechnik, Artificial intelligence, Elektrotechnik und Elektronik

Elektronische Version(en)

https://doi.org/10.1109/ROBOT.2009.5152221 (Zugang: Unbekannt)