Analytic Singularity Analysis of a 4-DOF Parallel Robot Based on Jacobian Deficiencies

被引：8
|
作者：
Choi, Hee-Byoung [1 ]
Konno, Atsushi [2 ]
Uchiyama, Masaru [2 ]
机构：
[1] Gwangju Inst Sci & Technol, Sch Informat & Mechatron, Kwangju 500712, South Korea
[2] Tohoku Univ, Dept Aerosp Engn, Sendai, Miyagi 9808579, Japan
来源：
INTERNATIONAL JOURNAL OF CONTROL AUTOMATION AND SYSTEMS | 2010年 / 8卷 / 02期
关键词：
Jacobian deficiencies; parallel robot; singularity analysis;
D O I：
10.1007/s12555-010-0224-6
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
In this paper, analytic singularity analysis of a 4-DOF parallel robot H4 is addressed. Since a parallel manipulator consisting of several serial chains has complex singularities in the workspace, the determination of singular configurations is very important in design, trajectory planning, and control. The classical method to determine singular configurations is to find the determinant of the Jacobian matrix. However, the Jacobian matrix of a parallel manipulator is complex in general and thus it is not easy to find the determinant of the Jacobian matrix. Therefore, we focus on the analytic singularity analysis of a 4-DOF parallel robot H4 using Jacobian deficiencies. A subset of the whole singularities and the intuitively predictable ones are only derived using Jacobian matrix deficiency. Three type singularities, i.e., overmobility, undermobility and combined singularities, have been presented.
引用
收藏
页码：378 / 384
页数：7
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