On redundant flagged manipulators

descriptionPublicationkeyboard_double_arrow_right Article , Conference object 10 Jul 2006 Spain Publisher:IEEEJournal:Proceedings 2006 IEEE International Conference on Robotics and Automation, 2006. ICRA 2006.

Authors: Maria Alberich-Carramiñana; Federico Thomas; Carme Torras;

doi: 10.1109/robot.2006.1641805

handle: 10261/30312

On redundant flagged manipulators

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Abstract

Flagged in-parallel manipulators are attractive because their singularity loci admit a well-behaved decomposition, with a unique topology irrespective of the metrics of each particular design. In this paper, this topology is formally derived and all the cells, in the configuration space of the platform, of dimension 6 (non-singular) and dimension 5 (singular), together with their adjacencies, are worked out in detail. This characterization of the singularity loci is useful to come up with designs which admit control strategies free of singularities. In particular, it is shown that by adding an extra leg to any flagged manipulator, the resulting 7-leg structure admits a control strategy (by appropriately choosing which leg remains passive) that completely avoids singularities.

This work was supported by projects: 'Planificador de trayectorias para sistemas robotizados de arquitectura arbitraria' (J-00930), 'Grup de recerca consolidat - ROBÒTICA' (8007).

IEEE International Conference on Robotics and Automation (ICRA), 2006, Orlando (EE.UU.)

Peer Reviewed

Country

Spain

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Keywords

Automation, Parallel manipulators, Flag manifold, Manipulator design, Stratification, Kinematics singularities

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