Details
| Originalsprache | Englisch |
|---|---|
| Titel des Sammelwerks | 2009 IEEE International Conference on Robotics and Automation, ICRA 2009 |
| Erscheinungsort | Kobe, Japan |
| Seiten | 1256-1261 |
| Seitenumfang | 6 |
| Publikationsstatus | Veröffentlicht - 2009 |
| Veranstaltung | 2009 IEEE International Conference on Robotics and Automation, ICRA '09 - Kobe, Japan Dauer: 12 Mai 2009 → 17 Mai 2009 |
Publikationsreihe
| Name | Proceedings - IEEE International Conference on Robotics and Automation |
|---|---|
| ISSN (Print) | 1050-4729 |
Abstract
In the present paper we introduce an improved method to obtain the guaranteed singularity-free workspace of planar parallel kinematic machines. A geometric condition for the existence of singularities is extended to be used in interval analysis. Therefore, we eliminate the need of calculating the inconvenient interval form of the Jacobian's determinant. Hence, an appropriate description of the singularity-free workspace is obtained and the computational effort is reduced significantly. With the interval-based approach error sources, like manufacturing tolerances, can be considered. Consequently, regions that do not satisfy the proposed condition can be guaranteed not to have any type-two singularities. Several analysis examples demonstrate the efficiency of the proposed geometrical-based solver in comparison to existing solvers, i.e. based on the Jacobian's determinant.
ASJC Scopus Sachgebiete
- Informatik (insg.)
- Software
- Ingenieurwesen (insg.)
- Steuerungs- und Systemtechnik
- Informatik (insg.)
- Artificial intelligence
- Ingenieurwesen (insg.)
- Elektrotechnik und Elektronik
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2009 IEEE International Conference on Robotics and Automation, ICRA 2009. Kobe, Japan, 2009. S. 1256-1261 5152221 (Proceedings - IEEE International Conference on Robotics and Automation).
Publikation: Beitrag in Buch/Bericht/Sammelwerk/Konferenzband › Aufsatz in Konferenzband › Forschung › Peer-Review
}
TY - GEN
T1 - New interval-based approach to determine the guaranteed singularity-free workspace of parallel robots
AU - Kotlarski, Jens
AU - De Nijs, Roderick
AU - Abdellatif, H.
AU - Heimann, Bodo
PY - 2009
Y1 - 2009
N2 - In the present paper we introduce an improved method to obtain the guaranteed singularity-free workspace of planar parallel kinematic machines. A geometric condition for the existence of singularities is extended to be used in interval analysis. Therefore, we eliminate the need of calculating the inconvenient interval form of the Jacobian's determinant. Hence, an appropriate description of the singularity-free workspace is obtained and the computational effort is reduced significantly. With the interval-based approach error sources, like manufacturing tolerances, can be considered. Consequently, regions that do not satisfy the proposed condition can be guaranteed not to have any type-two singularities. Several analysis examples demonstrate the efficiency of the proposed geometrical-based solver in comparison to existing solvers, i.e. based on the Jacobian's determinant.
AB - In the present paper we introduce an improved method to obtain the guaranteed singularity-free workspace of planar parallel kinematic machines. A geometric condition for the existence of singularities is extended to be used in interval analysis. Therefore, we eliminate the need of calculating the inconvenient interval form of the Jacobian's determinant. Hence, an appropriate description of the singularity-free workspace is obtained and the computational effort is reduced significantly. With the interval-based approach error sources, like manufacturing tolerances, can be considered. Consequently, regions that do not satisfy the proposed condition can be guaranteed not to have any type-two singularities. Several analysis examples demonstrate the efficiency of the proposed geometrical-based solver in comparison to existing solvers, i.e. based on the Jacobian's determinant.
UR - http://www.scopus.com/inward/record.url?scp=70350349897&partnerID=8YFLogxK
U2 - 10.1109/ROBOT.2009.5152221
DO - 10.1109/ROBOT.2009.5152221
M3 - Conference contribution
AN - SCOPUS:70350349897
SN - 9781424427895
SN - 978-1-4244-2788-8
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 1256
EP - 1261
BT - 2009 IEEE International Conference on Robotics and Automation, ICRA 2009
CY - Kobe, Japan
T2 - 2009 IEEE International Conference on Robotics and Automation, ICRA '09
Y2 - 12 May 2009 through 17 May 2009
ER -