Skip to Main content Skip to Navigation
Journal articles

Dynamics-based Algorithm for Reliable Assembly Mode Tracking in Parallel Robots

Abstract : Finding the current pose of the end-effector of a parallel robot is a problem, since its forward geometric model generally has several solutions. Current methods to address this problem operate mainly under the assumption that the robot never changes its assembly mode nor gets close to Type 2 singularities. Nonetheless, recent works proved that a parallel robot can change its assembly mode thanks to dedicated trajectory generation and control. Such a feature allows increasing the operational workspace of such manipulators. Hence tracking correctly the end-effector pose while crossing Type 2 singularities, is mandatory for a practical usage of this workspace enhancement method. However, on Type 2 singularities several solutions of the forward geometric model merge, making current tracking methods ineffective. To fill this gap, we propose a two-step pose-tracking methodology: First, a differential inclusion based on kinematics and dynamics is solved. Second, joint measurements are used to tighten resulting enclosures. The effectiveness of this method is discussed thanks to experimental data gathered on a planar parallel robot.
Document type :
Journal articles
Complete list of metadatas

Cited literature [59 references]  Display  Hide  Download
Contributor : Sébastien Briot <>
Submitted on : Monday, June 8, 2020 - 8:25:02 AM
Last modification on : Wednesday, June 24, 2020 - 4:19:42 PM


 Restricted access
To satisfy the distribution rights of the publisher, the document is embargoed until : 2020-12-08

Please log in to resquest access to the document



Adrien Koessler, Alexandre Goldsztejn, Sébastien Briot, Nicolas Bouton. Dynamics-based Algorithm for Reliable Assembly Mode Tracking in Parallel Robots. IEEE Transactions on Robotics, IEEE, 2020, 36 (3), pp.937-950. ⟨10.1109/TRO.2020.2987855⟩. ⟨hal-02539443⟩



Record views