Singularity Prediction for Parallel Robots for Improvement of Sensor-Integrated Assembly |
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Authors: | J. Hesselbach,J. Maaß ,C. Bier |
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Affiliation: | Institute of Machine Tools and Production Technology, Dept. of Mechanical Engineering - Technical University Braunschweig, Germany |
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Abstract: | The frequent occurrences of singularities inside a parallel robot's workspace and in certain cases of sensor integration non-deterministic end-effector trajectories demand a powerful online singularity prediction and a control design that is capable of displacing motion algorithms. The theory of a power-inspired index of closeness to a singularity pose for parallel kinematic manipulators is illumined and presented in this paper, supported by comparison to Grassmann geometry and experimental results achieved on a HEXA robot. An experimentally validated strategy for jerk bounded braking the end-effector while approaching a singularity and an algorithm for departing it again are presented as well. |
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Keywords: | Robot Assembly Singularity |
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