Parallel robots present singular configurations that divide the operational workspace into several aspects. It was proven that type 2 and leg passive joint twist system (LPJTS) singularities can be crossed with a trajectory respecting a given dynamic criterion. However, the practical implementation of a controller able to track such trajectories is up to now limited to restrictive cases of type 2 singularities crossing. Analyzing the structure of the inverse dynamic model, this paper proposes a global solution allowing the tracking of trajectories respecting the general criterion for any singularity that leads to potential issues of dynamic model degeneracy. The tracking is operated in the robot joint space. Experimental results on a five-bar mechanism showed the controller ability to successfully cross type 2 singularities.
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October 2017
Research-Article
A Controller Avoiding Dynamic Model Degeneracy of Parallel Robots During Singularity Crossing
Damien Six,
Damien Six
LS2N, UMR CNRS 6004,
Nantes 44321, France;
Nantes 44321, France;
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Abdelhamid Chriette,
Abdelhamid Chriette
LS2N, UMR CNRS 6004,
Nantes 44321, France;
Nantes 44321, France;
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Philippe Martinet
Philippe Martinet
LS2N, UMR CNRS 6004,
Nantes 44321, France;
Nantes 44321, France;
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Damien Six
LS2N, UMR CNRS 6004,
Nantes 44321, France;
Nantes 44321, France;
Sébastien Briot
Abdelhamid Chriette
LS2N, UMR CNRS 6004,
Nantes 44321, France;
Nantes 44321, France;
Philippe Martinet
LS2N, UMR CNRS 6004,
Nantes 44321, France;
Nantes 44321, France;
1Corresponding author.
Manuscript received February 20, 2017; final manuscript received May 30, 2017; published online August 7, 2017. Assoc. Editor: Venkat Krovi.
J. Mechanisms Robotics. Oct 2017, 9(5): 051008 (8 pages)
Published Online: August 7, 2017
Article history
Received:
February 20, 2017
Revised:
May 30, 2017
Citation
Six, D., Briot, S., Chriette, A., and Martinet, P. (August 7, 2017). "A Controller Avoiding Dynamic Model Degeneracy of Parallel Robots During Singularity Crossing." ASME. J. Mechanisms Robotics. October 2017; 9(5): 051008. https://doi.org/10.1115/1.4037256
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