DocumentCode
324057
Title
Efficient computation of the extremum of the articular velocities of a parallel manipulator in a translation workspace
Author
Merlet, Jean-Pierre
Author_Institution
Inst. Nat. de Recherche en Inf. et Autom., Sophia Antipolis, France
Volume
3
fYear
1998
fDate
16-20 May 1998
Firstpage
1976
Abstract
This paper presents an efficient algorithm for computing, with a guaranteed error, the maximal and minimal articular velocities of a parallel manipulator so that whatever is the location of the end-effector in a given volume it may perform a motion at a given Cartesian/angular velocity, under the assumption that its orientation is kept constant over the volume. This algorithm is much more faster and safe than the classical discretisation method
Keywords
Jacobian matrices; manipulator dynamics; motion control; optimisation; position control; velocity control; Cartesian velocity; Gough type robot; Jacobian matrix; articular velocities; motion control; optimisation; parallel manipulator; position control; translation workspace; Angular velocity; Concurrent computing; Design optimization; Equations; Extremities; Jacobian matrices; Leg; Legged locomotion; Manipulators; Robots;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 1998. Proceedings. 1998 IEEE International Conference on
Conference_Location
Leuven
ISSN
1050-4729
Print_ISBN
0-7803-4300-X
Type
conf
DOI
10.1109/ROBOT.1998.680605
Filename
680605
Link To Document