New interval-based approach to determine the guaranteed singularity-free workspace of parallel robots

Research output: Chapter in book/report/conference proceedingConference contributionResearchpeer review

Authors

  • Jens Kotlarski
  • Roderick De Nijs
  • H. Abdellatif
  • Bodo Heimann

Research Organisations

External Research Organisations

  • Polytechnic University of Valencia
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Details

Original languageEnglish
Title of host publication2009 IEEE International Conference on Robotics and Automation, ICRA 2009
Place of PublicationKobe, Japan
Pages1256-1261
Number of pages6
Publication statusPublished - 2009
Event2009 IEEE International Conference on Robotics and Automation, ICRA '09 - Kobe, Japan
Duration: 12 May 200917 May 2009

Publication series

NameProceedings - 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 subject areas

Cite this

New interval-based approach to determine the guaranteed singularity-free workspace of parallel robots. / Kotlarski, Jens; De Nijs, Roderick; Abdellatif, H. et al.
2009 IEEE International Conference on Robotics and Automation, ICRA 2009. Kobe, Japan, 2009. p. 1256-1261 5152221 (Proceedings - IEEE International Conference on Robotics and Automation).

Research output: Chapter in book/report/conference proceedingConference contributionResearchpeer review

Kotlarski, J, De Nijs, R, Abdellatif, H & Heimann, B 2009, New interval-based approach to determine the guaranteed singularity-free workspace of parallel robots. in 2009 IEEE International Conference on Robotics and Automation, ICRA 2009., 5152221, Proceedings - IEEE International Conference on Robotics and Automation, Kobe, Japan, pp. 1256-1261, 2009 IEEE International Conference on Robotics and Automation, ICRA '09, Kobe, Japan, 12 May 2009. https://doi.org/10.1109/ROBOT.2009.5152221
Kotlarski, J., De Nijs, R., Abdellatif, H., & Heimann, B. (2009). New interval-based approach to determine the guaranteed singularity-free workspace of parallel robots. In 2009 IEEE International Conference on Robotics and Automation, ICRA 2009 (pp. 1256-1261). Article 5152221 (Proceedings - IEEE International Conference on Robotics and Automation).. https://doi.org/10.1109/ROBOT.2009.5152221
Kotlarski J, De Nijs R, Abdellatif H, Heimann B. New interval-based approach to determine the guaranteed singularity-free workspace of parallel robots. In 2009 IEEE International Conference on Robotics and Automation, ICRA 2009. Kobe, Japan. 2009. p. 1256-1261. 5152221. (Proceedings - IEEE International Conference on Robotics and Automation). doi: 10.1109/ROBOT.2009.5152221
Kotlarski, Jens ; De Nijs, Roderick ; Abdellatif, H. et al. / New interval-based approach to determine the guaranteed singularity-free workspace of parallel robots. 2009 IEEE International Conference on Robotics and Automation, ICRA 2009. Kobe, Japan, 2009. pp. 1256-1261 (Proceedings - IEEE International Conference on Robotics and Automation).
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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.",
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