DocumentCode
2248559
Title
Path trackability and verification for parallel manipulators
Author
Jui, C. K Kevin ; Sun, Qiao
Author_Institution
Dept. of Mech. & Manuf. Eng., Calgary Univ., Canada
Volume
3
fYear
2003
fDate
14-19 Sept. 2003
Firstpage
4336
Abstract
Even though parallel manipulators are uncontrollable at force singular positions, our analysis reveals that motion through force singularities may be possible using a path tracking type of approach. This article establishes the condition for trackability of paths in the presence of force singularities, and presents the tools required to verify path trackability. Simulation results of a 2 DOF planar parallel manipulator are shown.
Keywords
manipulator dynamics; path planning; position control; 2 DOF manipulator; force singularities; parallel manipulators; path trackability; path verification; Acceleration; Actuators; Kinematics; Manipulator dynamics; Manufacturing; Motion analysis; Sun; Timing; Tracking; Transmission line matrix methods;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 2003. Proceedings. ICRA '03. IEEE International Conference on
ISSN
1050-4729
Print_ISBN
0-7803-7736-2
Type
conf
DOI
10.1109/ROBOT.2003.1242271
Filename
1242271
Link To Document