| contributor author | Six, Damien | |
| contributor author | Briot, Sébastien | |
| contributor author | Chriette, Abdelhamid | |
| contributor author | Martinet, Philippe | |
| date accessioned | 2017-11-25T07:18:21Z | |
| date available | 2017-11-25T07:18:21Z | |
| date copyright | 2017/7/8 | |
| date issued | 2017 | |
| identifier issn | 1942-4302 | |
| identifier other | jmr_009_05_051008.pdf | |
| identifier uri | http://138.201.223.254:8080/yetl1/handle/yetl/4235139 | |
| description abstract | 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. | |
| publisher | The American Society of Mechanical Engineers (ASME) | |
| title | A Controller Avoiding Dynamic Model Degeneracy of Parallel Robots During Singularity Crossing | |
| type | Journal Paper | |
| journal volume | 9 | |
| journal issue | 5 | |
| journal title | Journal of Mechanisms and Robotics | |
| identifier doi | 10.1115/1.4037256 | |
| journal fristpage | 51008 | |
| journal lastpage | 051008-8 | |
| tree | Journal of Mechanisms and Robotics:;2017:;volume( 009 ):;issue: 005 | |
| contenttype | Fulltext | |
