A practical procedure to analyze singular configurations in closed kinematic chains

IEEE Transactions on Robotics

Volumn 20, Issue 6, 2004, Pages 929-940

  Altuzarra, Oscar ^a   Pinto, Charles ^a   Avilés, Rafael ^a   Hernández, Alfonso ^a  

^a UNIVERSITY OF THE BASQUE COUNTRY UPV EHU   (Spain)

Author keywords

Constraint singularity; Geometric matrix; Parallel manipulators; Singular configurations; Velocity equation

Indexed keywords

ACTUATORS; AUTOMATION; CONSTRAINT THEORY; DEGREES OF FREEDOM (MECHANICS); EQUATIONS OF MOTION; KINEMATICS; MATRIX ALGEBRA; VELOCITY;

CLOSED KINEMATIC CHAINS; CONSTRAINT SINGULARITY; PARALLEL MANIPULATORS; REDUNDANT DEVICES; SINGULAR CONFIGURATIONS; VELOCITY EQUATION;

MANIPULATORS;

EID: 10944243823     PISSN: 15523098     EISSN: None     Source Type: Journal    
DOI: 10.1109/TRO.2004.832798     Document Type: Article

References (24)

1. K. Sugimoto, J. Duffy, and K. H. Hunt, "Special configurations of spatial mechanisms and robot arms," Mech. Mach. Theory, vol. 17, no. 2, pp. 119-132, 1982.
2. J. Angeles and A. Bernier, "A general method of four bar linkage mobility analysis," Trans. ASME J. Mech. Transmission Automat. Des. vol. 109, no. 2, pp. 197-203, 1987.
3. K. H. Hunt, "Special configurations of robot arms via screw theory," Robotica, vol. 4, pp. 171-179, 1986.
4. G. Schreiber, M. Otter, and G. Hirzinger, "Solving the singularity problem of nonredundant manipulators by constraint optimization," in Proc. IEEE/RSJ Int. Conf. Intelligent Robots and Systems, Kyongju, Korea, 1999, pp. 1482-1488.
5. J.-P. Merlet, "Singular configurations of parallel manipulators and Grassmann geometry," Int. J. Robot. Res., vol. 8, no. 5, pp. 45-56, 1989.
6. A. Karger and M. Husty, "Classification of all self-motions of the original Stewart-Gough platform," Computer-Aided Des., vol. 30, no. 3, pp. 205-215, 1998.
7. R. Di Gregorio and V. Parenti-Castelli, "Mobility analysis of the 3-UPU parallel mechanism assembled for a pure translational motion," in Proc. IEEE/ASME Int. Conf. Advanced Intelligent Mechatronics, Atlanta, GA, 1999, pp. 520-525.
8. I. Bonev, "Geometric analysis of parallel mechanisms," Ph.D. dissertation, Laval Univ., Quebec, QC, Canada, 2002.
9. D. S. Zlatanov, R. G. Fenton, and B. Benhabib, "Analysis of the instantaneous kinematics and singular configurations of hybrid-chain manipulators," Robot.: Kinemat., Dynam. Controls, vol. 72, pp. 467-476, 1994.
10. D. S. Zlatanov, R. G. Fenton, and B. Benhabib, "Classification and interpretation of the singularities of redundant mechanisms," in Proc. ASME Design Engineering Tech. Conf., Atlanta, GA, 1998, pp. 1-11.
11. D. S. Zlatanov, I. A. Bonev, and C. M. Gosselin, "Constraint singularities as c-space singularities," in Advances in Robot Kinematics. Theory and Applications. Dordrecht, The Netherlands: Kluwer, 2002.
12. O. Ma and J. Angeles, "Architecture singularities of parallel manipulators," Int. J. Robot. Automat., vol. 7, no. 1, pp. 23-29, 1992.
13. L. Notash, "Uncertainty configurations of parallel manipulators," Mech. Mach. Theory, vol. 33, no. 1/2, pp. 123-138, 1998.
14. F. C. Park and J. W. Kim, "Singularity analysis of closed kinematic chains," ASME J. Mech. Des., vol. 121, pp. 32-38, 1999.
15. K. H. Hunt, Kinematic Geometry of Mechanisms. Oxford, U.K.: Clarendon, 1978.
16. C. Gosselin and J. Angeles, "Singularity analysis of closed-loop kinematic chains," IEEE Trans. Robot. Automat., vol. 6, pp. 281-290, June 1990.
17. D. Zlatanov, R. G. Fenton, and B. Benhabib, "Singularity analysis of mechanisms and robots via velocity-equation model of the instantaneous kinematics," in Proc. IEEE Int. Conf. Robotics and Automation, vol. 2, 1994, pp. 986-991.
18. V. Kumar, "Characterization of workspaces of parallel manipulators," Trans. ASME J. Mech. Des., vol. 114, pp. 368-375, 1992.
19. J.-P. Merlet, Parallel Robots. Dordrecht, The Netherlands: Kluwer, 2000.
20. D. Zlatanov, R. G. Fenton, and B. Benhabib, "Identification and classification of the singular configurations of mechanisms," Mech. Mach. Theory, vol. 33, no. 6, pp. 743-760, 1998.
21. F. Freudenstein, "On the variety of motions generated by mechanisms," Trans. ASME. J. Eng. Ind., pp. 156-160, Feb. 1962.
22. A. Hernández, O. Altuzarra, R. Avilés, and V. Petuya, "Kinematic analysis of mechanisms via a velocity equation based in a geometric matrix," Mech. Mach. Theory, vol. 38, no. 12, pp. 1413-1429, 2003.
23. B. Paul, Kinematics and Dynamics of Planar Machinery. Englewood Cliffs, NJ: Prentice-Hall, 1979.
24. D. Zlatanov, R. G. Fenton, and B. Benhabib, "A unifying framework for classification and interpretation of mechanism singularities," J. Mech. Des., vol. 117, pp. 566-572, 1995.