A formal-numerical approach to determine the presence of singularity within the workspace of a parallel robot.
Résumé
Determining if there is a singularity within a given workspace of a parallel robot is an important step during the design process of this type of robot. As this singular configuration must be avoided the designer may be interested only in a straight yes/no answer. We consider in this pap er a Gough type parallel robot and we present algorithms which enable to determine if there is any singularity within a 6D workspace expressed either in term of generalized coordinates (position/orientation) of the platform or articular coordinates (lengths of the legs).
Domaines
Robotique [cs.RO]Origine | Fichiers produits par l'(les) auteur(s) |
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