2024-03-29T08:00:58Zhttp://digital.csic.es/dspace-oai/requestoai:digital.csic.es:10261/304992019-06-11T10:12:19Zcom_10261_106com_10261_4col_10261_359
Partially-flagged parallel manipulators: singularity charting and avoidance
Alberich-Carramiñana, Maria
Garolera, Marçal
Thomas, Federico
Torras, Carme
Redundant manipulators
Robot design
There are only three 6-SPS parallel manipulators with triangular base and platform: the octahedral, the flagged, and the partially-flagged studied in this paper. The forward kinematics of the octahedral manipulator is algebraically intricate, while those of the other two can be solved by three trilaterations. As an additional nice feature, the flagged manipulator is the only parallel platform for which a cell decomposition of its singularity locus has been derived. Here we prove that the partially-flagged manipulator admits also a well-behaved decomposition, technically called a stratification, some of whose strata are not topological cells, though. Remarkably, the adjacency diagram of the 5 and 6 dimensional strata (which shows what 5 dimensional strata are contained in the closure of a 6 dimensional one) is the same as for the flagged manipulator. The availability of such a decomposition permits devising a redundant 7-SPS manipulator, combining two partially-flagged ones, which admits a control strategy that completely avoids singularities. Simulation results support these claims.
2010-12-17T12:49:07Z
2010-12-17T12:49:07Z
2009
artículo
IEEE Transactions on Robotics 25(4): 771-784 (2009)
1552-3098
http://hdl.handle.net/10261/30499
10.1109/TRO.2009.2018970
eng
Publisher's version
http://dx.doi.org/10.1109/TRO.2009.2018970
openAccess
Institute of Electrical and Electronics Engineers