Singularity Analysis of a Six-dof Parallel Manipulator using Grassmann-Cayley Algebra and Gröbner Bases

Abstract : The subject of this paper deals with the singularity analysis of a six-dof three-legged parallel manipulator for force-feedback interface. To this end, a geometric condition for the manipulator singularities is obtained by means of Grassmann-Cayley algebra; the parallel singularities of the manipulator are computed using Jacobian and Gröbner basis. As a result, the algebraic relations of the singularities satisfied by the orientation variables are reported. Finally, the parallel singularities of the manipulator are plotted in its orientation workspace.
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Communication dans un congrès
Proceedings of an International Symposium on the Occasion of the 25th Anniversary of the McGill University Centre for Intelligent Machines, Nov 2010, Montréal, Canada. pp.341-352, 2010
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Contributeur : Stéphane Caro <>
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Dernière modification le : jeudi 17 janvier 2019 - 17:48:07
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Stéphane Caro, Guillaume Moroz, Thibault Gayral, Damien Chablat, Chao Chen. Singularity Analysis of a Six-dof Parallel Manipulator using Grassmann-Cayley Algebra and Gröbner Bases. Proceedings of an International Symposium on the Occasion of the 25th Anniversary of the McGill University Centre for Intelligent Machines, Nov 2010, Montréal, Canada. pp.341-352, 2010. 〈hal-00545747〉

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