A formal-numerical approach to determine the presence of singularity within the workspace of a parallel robot.

Jean-Pierre Merlet (1) , David Daney (1)

1 COPRIN - Constraints solving, optimization and robust interval analysis

Determining if there is a singularity within a given workspace of a parallel robot is an important step during the design process of this type of robot. As this singular configuration must be avoided the designer may be interested only in a straight yes/no answer. We consider in this pap er a Gough type parallel robot and we present algorithms which enable to determine if there is any singularity within a 6D workspace expressed either in term of generalized coordinates (position/orientation) of the platform or articular coordinates (lengths of the legs).

Domaines: Robotique [cs.RO]

Jean-Pierre Merlet, David Daney. A formal-numerical approach to determine the presence of singularity within the workspace of a parallel robot.. In 2nd Workshop on Computational Kinematics, May 2001, Seoul, South Korea. pp.167-176. ⟨hal-00906482⟩