Partially flagged parallel manipulators: singularity charting and avoidance

There are only three 6-SPS parallelmanipulatorswith triangular base and platform, i.e., the octahedral, the flagged, and the partially flagged, which are studied in this paper. The forward kinematics of the octahedralmanipulator is algebraically intricate, while those of the other two can be solved...

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Detalhes bibliográficos
Autores: Alberich Carramiñana, Maria|||0000-0003-2749-4875, Garolera, M, Thomas, Federico|||0000-0001-9341-5528, Torras, Carme|||0000-0002-2933-398X
Formato: artículo
Fecha de publicación:2009
País:España
Recursos:Universitat Politècnica de Catalunya (UPC)
Repositorio:UPCommons. Portal del coneixement obert de la UPC
Idioma:inglés
OAI Identifier:oai:upcommons.upc.edu:2117/10186
Acesso em linha:https://hdl.handle.net/2117/10186
https://dx.doi.org/10.1109/TRO.2009.2018970
Access Level:acceso abierto
Palavra-chave:Robots -- Dynamics
Configuration space
kinematics singularities
parallel manipulators
redundant manipulators
robot design.
Robots -- Dinàmica
Classificació INSPEC::Automation::Robots::Robot kinematics
Àrees temàtiques de la UPC::Informàtica::Robòtica
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oai_identifier_str oai:upcommons.upc.edu:2117/10186
network_acronym_str ES
network_name_str España
repository_id_str
spelling Partially flagged parallel manipulators: singularity charting and avoidanceAlberich Carramiñana, Maria|||0000-0003-2749-4875Garolera, MThomas, Federico|||0000-0001-9341-5528Torras, Carme|||0000-0002-2933-398XRobots -- DynamicsConfiguration spacekinematics singularitiesparallel manipulatorsredundant manipulatorsrobot design.Robots -- DinàmicaClassificació INSPEC::Automation::Robots::Robot kinematicsÀrees temàtiques de la UPC::Informàtica::RobòticaThere are only three 6-SPS parallelmanipulatorswith triangular base and platform, i.e., the octahedral, the flagged, and the partially flagged, which are studied in this paper. The forward kinematics of the octahedralmanipulator is algebraically intricate, while those of the other two can be solved by three trilaterations. As an additional nice feature, the flagged manipulator is the only parallel platform for which a cell decomposition of its singularity locus has been derived. Here, we prove that the partially flagged manipulator also admits a well-behaved decomposition, technically called a stratification, some of whose strata are not topological cells, however. Remarkably, the adjacency diagram of the 5-D and 6-D strata (which shows what 5-D strata are contained in the closure of a 6-D one) is the same as for the flaggedmanipulator. The availability of such a decomposition permits devising a redundant 7-SPS manipulator, combining two partially flagged ones, which admits a control strategy that completely avoids singularities. Simulation results support these claims.Peer Reviewed20092009-08-0120102010-11-08journal articlehttp://purl.org/coar/resource_type/c_6501VoRhttp://purl.org/coar/version/c_970fb48d4fbd8a85info:eu-repo/semantics/articleapplication/pdfhttps://hdl.handle.net/2117/10186https://dx.doi.org/10.1109/TRO.2009.2018970reponame:UPCommons. Portal del coneixement obert de la UPCinstname:Universitat Politècnica de Catalunya (UPC)Inglésengopen accesshttp://purl.org/coar/access_right/c_abf2Attribution-NonCommercial-NoDerivs 3.0 Spainhttp://creativecommons.org/licenses/by-nc-nd/3.0/es/info:eu-repo/semantics/openAccessoai:upcommons.upc.edu:2117/101862026-05-27T15:37:01Z
dc.title.none.fl_str_mv Partially flagged parallel manipulators: singularity charting and avoidance
title Partially flagged parallel manipulators: singularity charting and avoidance
spellingShingle Partially flagged parallel manipulators: singularity charting and avoidance
Alberich Carramiñana, Maria|||0000-0003-2749-4875
Robots -- Dynamics
Configuration space
kinematics singularities
parallel manipulators
redundant manipulators
robot design.
Robots -- Dinàmica
Classificació INSPEC::Automation::Robots::Robot kinematics
Àrees temàtiques de la UPC::Informàtica::Robòtica
title_short Partially flagged parallel manipulators: singularity charting and avoidance
title_full Partially flagged parallel manipulators: singularity charting and avoidance
title_fullStr Partially flagged parallel manipulators: singularity charting and avoidance
title_full_unstemmed Partially flagged parallel manipulators: singularity charting and avoidance
title_sort Partially flagged parallel manipulators: singularity charting and avoidance
dc.creator.none.fl_str_mv Alberich Carramiñana, Maria|||0000-0003-2749-4875
Garolera, M
Thomas, Federico|||0000-0001-9341-5528
Torras, Carme|||0000-0002-2933-398X
author Alberich Carramiñana, Maria|||0000-0003-2749-4875
author_facet Alberich Carramiñana, Maria|||0000-0003-2749-4875
Garolera, M
Thomas, Federico|||0000-0001-9341-5528
Torras, Carme|||0000-0002-2933-398X
author_role author
author2 Garolera, M
Thomas, Federico|||0000-0001-9341-5528
Torras, Carme|||0000-0002-2933-398X
author2_role author
author
author
dc.subject.none.fl_str_mv Robots -- Dynamics
Configuration space
kinematics singularities
parallel manipulators
redundant manipulators
robot design.
Robots -- Dinàmica
Classificació INSPEC::Automation::Robots::Robot kinematics
Àrees temàtiques de la UPC::Informàtica::Robòtica
topic Robots -- Dynamics
Configuration space
kinematics singularities
parallel manipulators
redundant manipulators
robot design.
Robots -- Dinàmica
Classificació INSPEC::Automation::Robots::Robot kinematics
Àrees temàtiques de la UPC::Informàtica::Robòtica
description There are only three 6-SPS parallelmanipulatorswith triangular base and platform, i.e., the octahedral, the flagged, and the partially flagged, which are studied in this paper. The forward kinematics of the octahedralmanipulator is algebraically intricate, while those of the other two can be solved by three trilaterations. As an additional nice feature, the flagged manipulator is the only parallel platform for which a cell decomposition of its singularity locus has been derived. Here, we prove that the partially flagged manipulator also admits a well-behaved decomposition, technically called a stratification, some of whose strata are not topological cells, however. Remarkably, the adjacency diagram of the 5-D and 6-D strata (which shows what 5-D strata are contained in the closure of a 6-D one) is the same as for the flaggedmanipulator. The availability of such a decomposition permits devising a redundant 7-SPS manipulator, combining two partially flagged ones, which admits a control strategy that completely avoids singularities. Simulation results support these claims.
publishDate 2009
dc.date.none.fl_str_mv 2009
2009-08-01
2010
2010-11-08
dc.type.none.fl_str_mv journal article
http://purl.org/coar/resource_type/c_6501
VoR
http://purl.org/coar/version/c_970fb48d4fbd8a85
dc.type.openaire.fl_str_mv info:eu-repo/semantics/article
format article
dc.identifier.none.fl_str_mv https://hdl.handle.net/2117/10186
https://dx.doi.org/10.1109/TRO.2009.2018970
url https://hdl.handle.net/2117/10186
https://dx.doi.org/10.1109/TRO.2009.2018970
dc.language.none.fl_str_mv Inglés
eng
language_invalid_str_mv Inglés
language eng
dc.rights.none.fl_str_mv open access
http://purl.org/coar/access_right/c_abf2
Attribution-NonCommercial-NoDerivs 3.0 Spain
http://creativecommons.org/licenses/by-nc-nd/3.0/es/
dc.rights.openaire.fl_str_mv info:eu-repo/semantics/openAccess
rights_invalid_str_mv open access
http://purl.org/coar/access_right/c_abf2
Attribution-NonCommercial-NoDerivs 3.0 Spain
http://creativecommons.org/licenses/by-nc-nd/3.0/es/
eu_rights_str_mv openAccess
dc.format.none.fl_str_mv application/pdf
dc.source.none.fl_str_mv reponame:UPCommons. Portal del coneixement obert de la UPC
instname:Universitat Politècnica de Catalunya (UPC)
instname_str Universitat Politècnica de Catalunya (UPC)
reponame_str UPCommons. Portal del coneixement obert de la UPC
collection UPCommons. Portal del coneixement obert de la UPC
repository.name.fl_str_mv
repository.mail.fl_str_mv
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score 15,300724

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