Constraint Conditions Determination for Singularity-free Workspace of Central Symmetric Parallel Robots

Zeng, Rui; Dai, Shi‐Lu; Xie, Wenfang; Rama, Bhat

doi:10.1016/j.ifacol.2015.06.369

Cited by 6 publications

(8 citation statements)

References 18 publications

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“…The first constraint, known as homomorphism constraint, 35 ensures that the forward and the inverse kinematic calculation will converge to the right value during the calibration. Based on the implicit function theorem, the existence of all elements in J T requires for the singularity-free of inverse kinematic mapping.…”

Section: Constraints Determination For Robot Configuration Selectionmentioning

confidence: 99%

“…To avoid the perturbation from the degenerated singularity surface, the Cauchy index r of J 2 can be used to identify the type II singularity. 35 For any two nearby points p 1 ; p 2 2 M:…”

Section: Constraints Determination For Robot Configuration Selectionmentioning

confidence: 99%

“…37 The second constraint requires for a workspace in which f is a bijective mapping. The conclusion in our previous study 35 is directly used: kinematic mapping f is a homeomorphism if the following equation holds:…”

Section: Constraints Determination For Robot Configuration Selectionmentioning

confidence: 99%

See 2 more Smart Citations

Relative posture-based kinematic calibration of a 6-RSS parallel robot by optical coordinate measurement machine

Zeng

Xie

et al. 2018

International Journal of Advanced Robotic Systems

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In this article, a relative posture-based algorithm is proposed to solve the kinematic calibration problem of a 6-RSS parallel robot using the optical coordinate measurement machine system. In the research, the relative posture of robot is estimated using the detected pose with respect to the sensor frame through several reflectors which are fixed on the robot end-effector. Based on the relative posture, a calibration algorithm is proposed to determine the optimal error parameters of the robot kinematic model and external parameters introduced by the optical sensor. This method considers both the position and orientation variations and does not need the accurate location information of the detection sensor. The simulation results validate the superiority of the algorithm by comparing with the classic implicit calibration method. And the experimental results demonstrate that the proposal relative posture-based algorithm using optical coordinate measurement machine is an implementable and effective method for the parallel robot calibration.

show abstract

Section: Constraints Determination For Robot Configuration Selectionmentioning

confidence: 99%

“…To avoid the perturbation from the degenerated singularity surface, the Cauchy index r of J 2 can be used to identify the type II singularity. 35 For any two nearby points p 1 ; p 2 2 M:…”

Section: Constraints Determination For Robot Configuration Selectionmentioning

confidence: 99%

See 1 more Smart Citation

Relative posture-based kinematic calibration of a 6-RSS parallel robot by optical coordinate measurement machine

Zeng

Xie

et al. 2018

International Journal of Advanced Robotic Systems

Self Cite

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show abstract

“…For the five axes of the i th limb of a 3-UPU manipulator shown in Fig. 4, the direction of the second axis, ̂, is a function of the first joint displacement, 1 , and the direction of the fourth axis, ̂, is a function of the fifth joint displacement, 5 , and the six parameters. Inverse kinematic solutions of a 3-UPU manipulator exist if the following three kinematic constraints are satisfied: …”

Section: Kinematic Constraints and Singularity-free Joint Spacementioning

confidence: 99%

“…A manipulator can switch into a different branch of inverse kinematic solutions at inverse kinematic singular configurations and might not change back to the original branch of solutions [5], [6]. The manipulator cannot balance external wrenches acting on the platform at direct kinematic singular configurations, and link interactions should not occur for any types of manipulator.…”

Section: Introductionmentioning

confidence: 99%

Determination of the Singularity-Free Compatible Reachable Workspace for Different Types of Three Degrees-of-Freedom Parallel Manipulators

Huang¹,

Tsai²

2016

IJCEE

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Abstract:General methods based on inverse kinematics are presented to develop singularity-free compatible workspaces for three degrees-of-freedom parallel manipulators. The characteristics of boundary surfaces are investigated. A workspace boundary surface consists of six or more patches generated by different sets of constraint equations. Each set includes one equation from boundary constraints and several equations from inverse kinematic constraints. The equations for all the patches can be determined by solving direct kinematics once and three times, respectively, for symmetrical and non-symmetrical manipulators. The methods are applicable to existing 3-limb special manipulators with simple inverse kinematics and general 3-limb manipulators without any spherical joints. The effect of passive joint limits, link interactions and singularity are considered in the proposed methods.

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Kinematics, Singularity Study and Optimization of an Innovative Spherical Parallel Manipulator with Large Workspace

Khoshnoodi

Hanzaki

Talebi

2017

J Intell Robot Syst

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Constraint Conditions Determination for Singularity-free Workspace of Central Symmetric Parallel Robots

Cited by 6 publications

References 18 publications

Relative posture-based kinematic calibration of a 6-RSS parallel robot by optical coordinate measurement machine

Relative posture-based kinematic calibration of a 6-RSS parallel robot by optical coordinate measurement machine

Determination of the Singularity-Free Compatible Reachable Workspace for Different Types of Three Degrees-of-Freedom Parallel Manipulators

Kinematics, Singularity Study and Optimization of an Innovative Spherical Parallel Manipulator with Large Workspace

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