A generic trajectory verifier for the motion planning of parallel robots

Journal of Mechanical Design, Transactions of the ASME

Volumn 123, Issue 4, 2001, Pages 510-515

  Merlet, Jean Pierre ^a  

^a INRIA   (France)

Author keywords

[No Author keywords available]

Indexed keywords

EID: 1042278354     PISSN: 10500472     EISSN: None     Source Type: Journal    
DOI: 10.1115/1.1401735     Document Type: Article

References (19)

1. Dasgupta, B., and Mruthyunjaya, T. S., 1998, “Singularity-free Path Planning for the Stewart Platform Manipulator,” Mech. Mach. Theory, 33, No. 6, pp. 711-725.
2. Nenchev, D. N., and Uchiyama, M., 1996, “Singularity-consistent Path Planning and Control of Parallel Robot Motion Through Instantaneous-self-motion Type,” In IEEE Int. Conf. on Robotics and Automation, pp. 1864-1870.
3. Nguyen, C. C. et al., 1992, “Trajectory Planning and Control of a Stewart Platform-based End-effector With Passive Compliance for Part Assembly,” J. Intell. & Robotic Syst., 6, No. 2-3, pp. 263-281.
4. Merlet, J.-P., 1994, “Trajectory Verification in the Workspace for Parallel Manipulators,” Int. J. Robot. Res., 13, No. 4, pp. 326-333.
5. Boudreau, R., and Gosselin, C. M., 1999, “La synthese d’une plate-forme de Gough-Stewart pour un espace atteignable prescrit,” In 10th World Congress on the Theory of Machines and Mechanisms, pp. 449-454, Oulu.
6. Gosselin, C., Perreault, L., and Vaillancourt, C., 1995, “Simulation and Computer-aided Kinematic Design of three-Degree-of-Freedom Spherical Parallel Manipulators,” J. Rob. Syst., 12, No. 12, pp. 857-869.
7. Ji, Z., 1996, “Analysis of Design Parameters in Platform Manipulators,” ASME J. Mech. Des., 118, pp. 526-531.
8. Merlet, J.-P., 1997, Democrat: “A Design Methodology for the Conception of Robots with Parallel Architecture,” Robotica, 15, No. 4, pp. 367-373.
9. Murray, A. P., Pierrot, F., Dauchez, P., and McCarthy, J. M., 1996, “On the Design of Parallel Manipulators for a Prescribed Workspace: A Planar Quaternion Approach,” In J. Lenarcic V. Parenti-Castelli, editor, Recent Advances in Robot Kinematics, pp. 349-357. Kluwer.
10. Chablat, D., and Wenger, P., 1998, “Moveability and Collision Analysis for Fully-parallel Manipulators,” In 12th RoManSy, pp. 61-68, Paris.
11. Ma, O., and Angeles, J. 1991, “Optimum Architecture Design of Platform Manipulator,” In ICAR, pp. 1131-1135.
12. Merlet, J-P., 1998, “Determination of the Presence of Singularities in 6D Workspace of a Gough Parallel Manipulator,” In ARK, pp. 39-48.
13. Wenger, P, and Chablat, D., 1998, “Workspace and Assembly Modes in Fully Parallel Manipulators: A Descriptive Study,” In ARK, pp. 117-126, Strobl.
14. Gough, V. E., and Whitehall, S. G., 1962, “Universal Tire Test Machine,” In Proceedings 9th Int. Technical Congress F.I.S.I.TA., 117, pp. 117-135.
15. Yoshikawa, T, 1982, “Manipulability of Robotic Mechanisms,” Int. J. Robot. Res., 1, No. 1.
16. Moore, R. E., 1979, “Methods and Applications of Interval Analysis,” SIAM Studies in Applied Mathematics.
17. Collavizza, M., Deloble, F., and Rueher, M., 1999, “Comparing Partial Consistencies,” Reliable Computing, 5, pp. 1-16.
18. Krawczyk, R., 1969, “Newton-algorithmen zur Bestimmung von Nullstellen mit Fehlerschranken,” Computing, 4, pp. 187-201.
19. Tapia, R. A., 1971, “The Kantorovitch Theorem for Newton’s Method,” Am. Math. Monthly, 78, No. 1 ea, pp. 389-392.