Numerical and experimental characterization of singularities of a six-wire parallel architecture

Robotica

Volumn 25, Issue 3, 2007, Pages 315-324

  Ottaviano, Erika ^a   Ceccarelli, Marco ^a  

^a UNIVERSITY OF CASSINO AND SOUTHERN LAZIO   (Italy)

Author keywords

Experimental robotics; Measuring systems; Singularity characterization; Wire parallel architectures

Indexed keywords

CLASSIFICATION (OF INFORMATION); COMPUTER ARCHITECTURE; COMPUTER SOFTWARE; MEASUREMENTS; NUMERICAL METHODS; ROBOTICS;

CASSINO TRACKING SYSTEM (CATRASYS); EXPERIMENTAL ROBOTICS; PARALLEL ARCHITECTURE; SINGULARITY CHARACTERIZATION; WIRE PARALLEL ARCHITECTURES;

PARALLEL PROCESSING SYSTEMS;

EID: 34247637897     PISSN: 02635747     EISSN: 14698668     Source Type: Journal    
DOI: 10.1017/S0263574706003110     Document Type: Article

References (22)

1. J. Angeles, "Is there a characteristic length of a rigid body displacement?," Proceedings of the 3rd International Workshop on Computational Kinematics CK 2005, Cassino, Italy (2005) Paper 25 (CD Proceedings).
2. I. A. Parkin, "The screws for finite displacement of a rigid body expressed in terms of its symmetry screws," Proceedings of the 3rd International Workshop on Computational Kinematics CK 2005, Cassino, Italy (2005) Paper 8 (CD Proceedings).
3. C. Huang, K. Sugimoto and I. A. Parkin, "The correspondence between finite screw systems and projective spaces," Proceedings of the 3rd International Workshop on Computational Kinematics CK 2005, Cassino, Italy (2005) Paper 46 (CD Proceedings).
4. R. Vertechy and V. Parenti-Castelli, "An accurate and fast algorithm for the determination of the rigid body pose by three point position data," Proceedings of the 3rd International Workshop on Computational Kinematics CK 2005, Cassino, Italy (2005) Paper 32 (CD Proceedings).
5. E. Gabriele, "Numerical and Experimental Determination of Industrial Type Robot Workspace," Master Thesis (Cassino, Italy: University of Cassino, 1994) (in Italian).
6. R. L. Williams II, J. S. Albus and R. V. Bostelman, "3D cable based Cartesian metrology system," J. Robot. Syst. 21(5), 237-257 (2004).
7. J.-P. Merlet, Les Robots Paralleles. (Hermes, Paris, 1990).
8. M. Ceccarelli, Fundamentals of Mechanics of Robotic Manipulation (Kluwer, Dordrecht, The Netherlands, 2004).
9. M. Ceccarelli, M. E. Toti and E. Ottaviano, "CATRASYS (Cassino tracking system): A new measuring system for workspace evaluation of robots," Proceedings of the 8th International Workshop on Robotics in Alpe-Adria-Danube Region RAAD'99, Munich, Germany (1999) pp. 19-24.
10. M. Ceccarelli, C. Avila Carrasco and E. Ottaviano, "Error analysis and experimental tests of CATRASYS (Cassino tracking system)," Proceedings of the International Conference on Industrial Electronics, Control and Instrumentation IECON 2000, Nagoya, Japan (2000) Paper SPC11-SP2-4.
11. E. Ottaviano, M. Ceccarelli, M. Toti and C. Avila Carrasco, "CaTraSys (Cassino tracking system): A wire system for experimental evaluation of robot workspace," J. Robot. Mechatron. 14(1), 78-87 (2002).
12. E. Ottaviano, M. Ceccarelli, F. Sbardella and F. Thomas, "Experimental determination of kinematic parameters and workspace of human arms," Proceedings of the 11th International Workshop on Robotics in Alpe-Adria-Danube Region RAAD 2002, Balatonfured, Hungary (2002) pp. 271-276.
13. J.-P. Merlet, "Singular configurations of parallel manipulators and Grassmann geometry," Int. J. Robot. Res. 8(5), 45-56 (1989).
14. F. Hao and J. M. McCarthy, "Conditions for line-based singularities in spatial platform manipulators," J. Robot. Syst. 15(1), 43-55 (1998).
15. L. Notash, "Uncertainty configurations of parallel manipulators," Mech. Mach. Theory 33(1/2), 123-138 (1998).
16. A. Dandurand, "The rigidity of compound spatial grid," Struct. Topol. 10, 41-44 (1984).
17. O. Ma and J. Angeles, "Architecture singularities of parallel manipulators," Int. J. Robot. Autom. 7(1), 23-29 (1992).
18. F. Thomas, E. Ottaviano, L. Ros and M. Ceccarelli, "Uncertainty model and singularities of 3-2-1 wire-based tracking systems," In: Advances in Robot Kinematics (Kluwer, Dordrecht, The Netherlands, 2002) pp. 107-116.
19. F. Thomas, E. Ottaviano, L. Ros and M. Ceccarelli, "Performance analysis of a 3-2-1 pose estimation device," IEEE Trans. Robot. Autom. 21(3), 288-297 (Jun. 2005).
20. A. Cayley, "A theorem in the geometry of position," Cambridge Math. J. 2, 267-271 (1841).
21. I. Ebert-Uphoff, J. Lee and H. Lipkin, "Characteristic tetrahedron of wrench singularities for parallel manipulators with three legs," J. Mech. Eng. Sci. 216(1), 81-93 (2002).
22. D. M. Downing, A. E. Samuel and K. H. Hunt, "Identification of the special configurations of the octahedral manipulator using the pure condition," Int. J. Robot. Res. 21(2), 147-160 (2002).