Details
| Original language | English |
|---|---|
| Title of host publication | Springer Tracts in Advanced Robotics |
| Publisher | Springer Verlag |
| Pages | 77-92 |
| Number of pages | 16 |
| Volume | 67 |
| Publication status | Published - 2011 |
| Externally published | Yes |
Publication series
| Name | Springer Tracts in Advanced Robotics |
|---|---|
| Volume | 67 |
| ISSN (Print) | 1610-7438 |
| ISSN (electronic) | 1610-742X |
Abstract
In this work a geometrical and a physically based method for the detection of singularities are presented, which provide information about the distance of a given position to singularities. The integration of this singularity detection into a robot controller is presented and validated by experimental results. Based on these results a path planning algorithm that avoids singularities is developed. It uses a particle based randomizing scheme for finding a path within the workspace to which a virtual potential field is applied. The HexaII demonstrator of the Collaborative Research Center 562 serves as a validation platform for this algorithm. The singularity avoidance path planner is integrated into the real-time context of the control application RCA562, from which experimental results are presented.
ASJC Scopus subject areas
- Engineering(all)
- Electrical and Electronic Engineering
- Computer Science(all)
- Artificial Intelligence
Cite this
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Springer Tracts in Advanced Robotics. Vol. 67 Springer Verlag, 2011. p. 77-92 (Springer Tracts in Advanced Robotics; Vol. 67).
Research output: Chapter in book/report/conference proceeding › Contribution to book/anthology › Research › peer review
}
TY - CHAP
T1 - Detection and avoidance of singularities in parallel kinematic machines
AU - Dietrich, Franz
AU - Maaß, Jochen
AU - Bier, Carlos
AU - Pietsch, Ingo
AU - Raatz, Annika
AU - Hesselbach, Jürgen
N1 - Funding information:. The authors appreciate the support of the German Research Foundation.
PY - 2011
Y1 - 2011
N2 - In this work a geometrical and a physically based method for the detection of singularities are presented, which provide information about the distance of a given position to singularities. The integration of this singularity detection into a robot controller is presented and validated by experimental results. Based on these results a path planning algorithm that avoids singularities is developed. It uses a particle based randomizing scheme for finding a path within the workspace to which a virtual potential field is applied. The HexaII demonstrator of the Collaborative Research Center 562 serves as a validation platform for this algorithm. The singularity avoidance path planner is integrated into the real-time context of the control application RCA562, from which experimental results are presented.
AB - In this work a geometrical and a physically based method for the detection of singularities are presented, which provide information about the distance of a given position to singularities. The integration of this singularity detection into a robot controller is presented and validated by experimental results. Based on these results a path planning algorithm that avoids singularities is developed. It uses a particle based randomizing scheme for finding a path within the workspace to which a virtual potential field is applied. The HexaII demonstrator of the Collaborative Research Center 562 serves as a validation platform for this algorithm. The singularity avoidance path planner is integrated into the real-time context of the control application RCA562, from which experimental results are presented.
UR - http://www.scopus.com/inward/record.url?scp=85030779944&partnerID=8YFLogxK
U2 - 10.1007/978-3-642-16785-0_5
DO - 10.1007/978-3-642-16785-0_5
M3 - Contribution to book/anthology
AN - SCOPUS:85030779944
VL - 67
T3 - Springer Tracts in Advanced Robotics
SP - 77
EP - 92
BT - Springer Tracts in Advanced Robotics
PB - Springer Verlag
ER -