Title :
Inverse kinematic solutions for parallel robots with singularity robustness
Author :
Hsiao, Lin ; Perng, Ming-Hwei
Author_Institution :
Dept. of Power Mech. Eng., Nat. Tsing Hua Univ., Hsinchu, Taiwan
Abstract :
Two inverse kinematic solutions with singularity robustness for parallel robot manipulators are proposed in this paper using, respectively, velocity constraint and force constraint. They are unified in a general damped least-squares method with feedback corrections introduced to eliminate positioning error in resolved-rate control (ORRCFC). Both solutions are shown to be stable
Keywords :
feedback; least squares approximations; manipulator kinematics; robust control; damped least-squares method; feedback corrections; force constraint; inverse kinematic solutions; parallel robots; positioning error; resolved-rate control; robot manipulators; singularity robustness; stable solutions; velocity constraint; Cost function; Error correction; Feedback; Jacobian matrices; Kinematics; Manipulators; Mechanical engineering; Parallel robots; Robot sensing systems; Robustness;
Conference_Titel :
Circuits and Systems, 1997. Proceedings of the 40th Midwest Symposium on
Conference_Location :
Sacramento, CA
Print_ISBN :
0-7803-3694-1
DOI :
10.1109/MWSCAS.1997.666183
