| Type de publication : |
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Communications avec actes |
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| Domaine : |
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Informatique/Robotique
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| Titre : |
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Singular surfaces and cusps in symmetric planar 3-RPR manipulators |
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| Auteur(s) : |
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Michel Coste 1, Philippe Wenger ( ) 2, Damien Chablat ( ) 2 |
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| Laboratoire : |
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| Équipe de recherche : |
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Géométrie algébrique réelle |
| Résumé : |
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We study in this paper a class of 3-RPR manipulators for which the direct kinematic problem (DKP) is split into a cubic problem followed by a quadratic one. These manipulators are geometrically characterized by the fact that the moving triangle is the image of the base triangle by an indirect isometry. We introduce a specific coordinate system adapted to this geometric feature and which is also well adapted to the splitting of the DKP. This allows us to obtain easily precise descriptions of the singularities and of the cusp edges. These latter second order singularities are important for nonsingular assembly mode changing. We show how to sort assembly modes and use this sorting for motion planning in the joint space. |
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Langue du texte
intégral : |
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Anglais |
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Date de production,
écriture : |
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25/03/2011 |
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| Titre de l'ouvrage : |
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IEEE/RSJ International Conference on Intelligent Robots and Systems |
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| Audience : |
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internationale |
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| Date de publication : |
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25/09/2011 |
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| Page, identifiant, ... : |
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1-6 |
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| Titre de la conférence : |
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IEEE/RSJ International Conference on Intelligent Robots and Systems |
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| Date de la conférence : |
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25/09/2011 |
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| Date de la conférence (fin) : |
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30/09/2011 |
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| Ville : |
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San Franisco |
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| Pays : |
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États-Unis |
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| Mots Clés : |
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Parallel robot – singularity – nonsingular assembly mode changing |
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