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| HAL: inria-00001085, version 1 |
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| ARK, Ljubljana : (2006) |
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| On the regularity of the inverse jacobian of parallel robots |
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| Jean-Pierre Merlet 1Peter Donelan 2 |
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| (2006-02-02) |
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| Checking the regularity of the inverse jacobian matrix of a parallel robot is an essential element for the safe use of this type of mechanism. Ideally such check should be made for all poses of the useful workspace of the robot or for any pose along a given trajectory and should take into account the uncertainties in the robot modeling and control. We propose various methods that facilitate this check. We exhibit especially a sufficient condition for the regularity that is directly related to the extreme poses that can be reached by the robot. |
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| 1: | COPRIN (INRIA Sophia Antipolis) |
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INRIA – Ecole des Ponts ParisTech |
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| 2: | Victoria University of Wellington |
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Victoria University of Wellington |
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| Domain | : | Computer Science/Operations Research |
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| inria-00001085, version 1 | |
| http://hal.inria.fr/inria-00001085 | |
| oai:hal.inria.fr:inria-00001085 | |
| From: Jean-Pierre Merlet | |
| Submitted on: Thursday, 2 February 2006 12:31:46 | |
| Updated on: Thursday, 2 February 2006 13:50:51 | |
