Velocity performance indices for parallel mechanisms with actuation redundancy

Robotica

Volumn 22, Issue 2, 2004, Pages 129-139

  Krut, Sébastien ^a   Company, Olivier ^a   Pierrot, François ^a  

^a LIRMM   (France)

Author keywords

Actuation redundancy; Operational polytop; Parallel mechanisms; Performance indices; Velocity isotropy

Indexed keywords

CONSTRAINT THEORY; KINEMATICS; MACHINE DESIGN; MANIPULATORS; MATHEMATICAL MODELS; MATRIX ALGEBRA; OPERATIONS RESEARCH; OPTIMIZATION; ROBOTICS;

ACTUATION REDUNDANCY; OPERATIONAL POLYTOP; PARALLEL MECHANISMS; PERFORMANCE INDICES; VELOCITY ISOTROPY;

PARALLEL PROCESSING SYSTEMS;

EID: 1942471839     PISSN: 02635747     EISSN: None     Source Type: Journal    
DOI: 10.1017/S0263574703005411     Document Type: Article

References (18)

1. J.K. Salisbury and J.J Craig, "Articulated hands: Force control and kinematic issues", Int. J. Robotics Research 1(1), 4-17 (1982).
2. T. Yoshikawa, "Manipulability of robotic mechanisms", Proc. Robotics Research: The Second International Symposium (eds. H. Hanafusa and H. Inoue) (MIT Press, Cambridge (MA), USA, 1985) Vol. 4, pp. 3-9.
3. T. Yoshikawa, "Dynamic manipulability of robot manipulators", Journal of Robotic Systems 2(1), 113-124 (1985).
4. C. Gosselin, "Dexterity indices for planar and spatial robotic manipulators", Proc. IEEE ICR&A (1990), pp. 650-655.
5. J. Angeles, "The design of isotropic manipulator architectures in the presence of redundancies", Int. J. Robotics Research 11(3), 196-201 (1992).
6. C. Klein and T. Miklos, "Spatial robotics isotropy", Int. J. Robotics Research 10(4), 426-437 (1991).
7. C. Gosselin and J. Angeles, "The optimum kinematic design of a planar three-degree-of-freedom parallel manipulator", ASME J. Mech., Trans., and Automation in Design 110, 35-41 (1988).
8. K. Zanganeh and J. Angeles, "Kinematic isotropy and the optimum design of parallel manipulators", Int. J. Robotics Research 16(2), 185-197 (1997).
9. P. Chiacchio, S. Chiaverini, L. Sciavicco and B. Siciliano, "Global task space manipulability ellipsoids for multiple-arm systems", IEEE Trans. On Robotics and Automation 7(5), 678-685 (1991).
10. A. Bicchi, C. Melchiorri and D. Balluchi, "On the mobility and manipulability of general limb robots", IEEE Trans. On Robotics and Automation 11(2), 215-228 (1995).
11. F.C. Park and J.W. Kim, "Manipulability of Closed Kinematic Chains", Recent Advances in Robot Kinematics (eds. J. Lenarcic and V. Parenti-Castelli) (Kluwer, Dordrecht, 1996), pp. 99-108.
12. F. Marquet, S. Krut, O. Company and F. Pierrot, "Archi, a redundant mechanism for machining with unlimited rotation capacities", Proc. of ICAR (Budapest, August 2001).
13. S.J. Ryu, J.W. Kim, J.C. Hwang, C. Park, H.S. Ho, K. Lee, Y. Lee, U. Cornel, F.C. Park and J. Kim, "ECLIPSE: An Overactuated Parallel Mechanism for Rapid Machining", Proc. ASME Int. Mechanical Engineering Congress and Exposition, USA 8, 681-689 (1998).
14. F. Pierrot and P. Chiacchio, "Evaluation of Velocity Capabilities for Redundant Parallel Robots", Proc. of IEEE ICR&A (Albuquerque, New Mexico, April 1997).
15. S. Kock and W. Schumacher, "A Parallel x-y Manipulator with Actuation Redundancy for High-Speed And Active-Stiffness Applications", Proc. of IEEE ICR&A (Leuven, Belgium, May 1998).
16. V. Hay ward, O. Khatib, J. Craig and T. Lozano-Perez, "Kinematic Analysis And Design Of Redundant Manipulators", Robotics Review 2, (MIT Press, 1992), pp. 191-195.
17. L. Stocco, S. E. Salcudean and F. Sassani, "Matrix Normalization for Optimal Robot Design", Proc. of IEEE ICR&A (Leuven, Belgium, May 16-21, 1998).
18. V.C. Klema and A.J. Laub, "The singular value decompostion: its computation and some applications," IEEE Transactions and Automatic Control AC-25(2), 164-176 (1980).