Details
| Original language | English |
|---|---|
| Title of host publication | Proceedings of the 13th IASTED International Conference on Robotics and Applications, RA 2007 and Proceedings of the IASTED International Conference on Telematics |
| Place of Publication | Würzburg, Germany |
| Pages | 451-456 |
| Number of pages | 6 |
| Publication status | Published - 2007 |
| Event | 13th IASTED International Conference on Robotics and Applications, RA 2007 and IASTED International Conference on Telematics - Wurzburg, Germany Duration: 29 Aug 2007 → 31 Aug 2007 |
Publication series
| Name | Proceedings of the 13th IASTED International Conference on Robotics and Applications, RA 2007 and Proceedings of the IASTED International Conference on Telematics |
|---|
Abstract
The present paper applies kinematic redundancy to a 3RRR planar parallel manipulator in order to reduce the effect of singularity loci within the workspace. The proposed approach consists of an additional prismatic actuator at the base allowing a selective reconfiguration. The relationship between the redundancy and the effective workspace is studied by introducing a performance index called operational effectiveness. It is demonstrated that the proposed simple-redundant scheme is able to outperform more complex approaches in the sense of singularity avoidance and operational effectiveness improvement.
Keywords
- Kinematic redundancy, Parallel manipulators, Singularity avoidance, Workspace enlargement
ASJC Scopus subject areas
- Computer Science(all)
- Computer Science Applications
- Computer Science(all)
- Computer Vision and Pattern Recognition
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Proceedings of the 13th IASTED International Conference on Robotics and Applications, RA 2007 and Proceedings of the IASTED International Conference on Telematics. Würzburg, Germany, 2007. p. 451-456 (Proceedings of the 13th IASTED International Conference on Robotics and Applications, RA 2007 and Proceedings of the IASTED International Conference on Telematics).
Research output: Chapter in book/report/conference proceeding › Conference contribution › Research › peer review
}
TY - GEN
T1 - On singularity avoidance and workspace enlargement of planar parallel manipulators using kinematic redundancy
AU - Kotlarski, Jens
AU - Abdellatif, H.
AU - Heimann, Bodo
PY - 2007
Y1 - 2007
N2 - The present paper applies kinematic redundancy to a 3RRR planar parallel manipulator in order to reduce the effect of singularity loci within the workspace. The proposed approach consists of an additional prismatic actuator at the base allowing a selective reconfiguration. The relationship between the redundancy and the effective workspace is studied by introducing a performance index called operational effectiveness. It is demonstrated that the proposed simple-redundant scheme is able to outperform more complex approaches in the sense of singularity avoidance and operational effectiveness improvement.
AB - The present paper applies kinematic redundancy to a 3RRR planar parallel manipulator in order to reduce the effect of singularity loci within the workspace. The proposed approach consists of an additional prismatic actuator at the base allowing a selective reconfiguration. The relationship between the redundancy and the effective workspace is studied by introducing a performance index called operational effectiveness. It is demonstrated that the proposed simple-redundant scheme is able to outperform more complex approaches in the sense of singularity avoidance and operational effectiveness improvement.
KW - Kinematic redundancy
KW - Parallel manipulators
KW - Singularity avoidance
KW - Workspace enlargement
UR - http://www.scopus.com/inward/record.url?scp=56149087509&partnerID=8YFLogxK
M3 - Conference contribution
AN - SCOPUS:56149087509
SN - 9780889866850
T3 - Proceedings of the 13th IASTED International Conference on Robotics and Applications, RA 2007 and Proceedings of the IASTED International Conference on Telematics
SP - 451
EP - 456
BT - Proceedings of the 13th IASTED International Conference on Robotics and Applications, RA 2007 and Proceedings of the IASTED International Conference on Telematics
CY - Würzburg, Germany
T2 - 13th IASTED International Conference on Robotics and Applications, RA 2007 and IASTED International Conference on Telematics
Y2 - 29 August 2007 through 31 August 2007
ER -