A Controller Avoiding Dynamic Model Degeneracy of Parallel Robots during Singularity Crossing - Archive ouverte HAL Accéder directement au contenu
Pré-Publication, Document De Travail Année : 2017

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

Résumé

Parallel robots present singular configurations that divide the operational workspace into several aspects. It was proven that type 2 and leg passive joint twist system (LPJTS) singularities can be crossed with a trajectory respecting a given dynamic criterion. However, the practical implementation of a controller able to track such trajectories is up to now limited to restrictive cases of type 2 singularities crossing. Analyzing the structure of the inverse dynamic model, this paper proposes a global solution allowing the tracking of trajectories respecting the general criterion for any singularity that leads to potential issues of dynamic model degeneracy. The tracking is operated in the robot joint space. Experimental results on a five-bar mechanism showed the controller ability to successfully cross type 2 singularities.
Fichier principal
Vignette du fichier
JMR-17-1046.pdf (1.59 Mo) Télécharger le fichier
crossing (1).mp4 (18.13 Mo) Télécharger le fichier
Origine : Fichiers produits par l'(les) auteur(s)
Format : Vidéo
Origine : Fichiers produits par l'(les) auteur(s)
Commentaire : A Controller Avoiding Dynamic Model Degeneracy of Parallel Robots during Singularity Crossing - Video
Loading...

Dates et versions

hal-01524311 , version 1 (18-07-2017)
hal-01524311 , version 2 (24-06-2019)

Licence

Paternité

Identifiants

  • HAL Id : hal-01524311 , version 1

Citer

Damien Six, Sébastien ´ Briot, Abdelhamid Chriette, Philippe Martinet. A Controller Avoiding Dynamic Model Degeneracy of Parallel Robots during Singularity Crossing. 2017. ⟨hal-01524311v1⟩

Collections

TDS-MACS
674 Consultations
269 Téléchargements

Partager

Gmail Facebook X LinkedIn More