A Controller for Avoiding Dynamic Model Degeneracy of Parallel Robots during Type 2 Singularity Crossing

Abstract : Parallel robots presents singular configurations that divide the operational workspace into several aspects. It was proven that such singularities can be crossed under the constraint of a dynamic criterion. However, the development of a controller able to track such trajectories is up to now limited by a restrictive criterion, which decreases the total number of possible trajectories for crossing a singularity. In this paper, by finding a solution to the inverse dynamic model at the singularity locus, we were able to implement a controller in Cartesian space and track a trajectory that crosses a Type 2 singularity.
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Damien Six, Sébastien Briot, Abdelhamid Chriette, Philippe Martinet. A Controller for Avoiding Dynamic Model Degeneracy of Parallel Robots during Type 2 Singularity Crossing. 6th European Conference on Mechanism Science (EuCoMeS2016), Sep 2016, Nantes, France. pp.589-597, ⟨10.1007/978-3-319-44156-6_60⟩. ⟨hal-01307366⟩

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