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Enlarging Parallel Robot Workspace through Type-2 Singularity Crossing

Abstract : In order to increase the reachable workspace of parallel robots, a promising solution consists in the definition of optimal trajectories that ensure the non degeneracy of the dynamic model in the Type 2 (or parallel) singularity. However, this assumes that the control law can perfectly track the desired trajectory, which is impossible due to modelling errors. This paper proposes a robust multi-model approach allowing parallel robots to cross Type 2 singularities. The main idea is to shift near singularities to a simplified dynamic model that can never degenerate. The proposed control law is validated experimentally through a Five-bar planar parallel mechanism.
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Submitted on : Tuesday, June 25, 2019 - 10:06:50 AM
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  • HAL Id : hal-01114340, version 1

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Georges Pagis, Nicolas Bouton, Sébastien Briot, Philippe Martinet. Enlarging Parallel Robot Workspace through Type-2 Singularity Crossing. Control Engineering Practice, Elsevier, 2015, 39, pp.1-11. ⟨hal-01114340⟩

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