A robust geometric method of singularity avoidance for kinematically redundant planar parallel robot manipulators
A robust geometric method of singularity avoidance for kinematically redundant planar parallel robot manipulators
复制标题
运动冗余平面并联机器人机械臂奇点避免的鲁棒几何方法
DOI：
10.1016/j.mechmachtheory.2020.103863
复制
发表时间：
2020
影响因子：
5.2
通讯作者：
Baron N
中科院分区：
文献类型：
--
作者：
Baron N
众所周知，基于雅可比行列式的奇点分析方法在应用于运动冗余并联机器人机械手时是不可靠的，因为它们可能会错过某些奇点并错误地识别机械手工作空间中的其他奇点。本文提出了一种运动冗余平面并联机器人机械臂奇异性避免的几何方法，该方法首先确定机械臂与奇点的接近程度，然后计算如何针对给定的末端执行器位姿优化运动冗余自由度。奇点分析是通过检查机构的相应移动性子机构的瞬时旋转中心来进行的，当除一个执行器之外的所有执行器都被锁定时，其中当这些点不确定或彼此重合时，操纵器处于 II 类奇点，并且引入了一个索引 rmin，它描述了满足此类条件的最小归一化距离。采用预测校正器方法来计算优化的配置，并且无需跨越奇点即可到达。最后，与传统的基于雅可比行列式的方法相比，奇点分析的几何方法在应用于运动冗余并联机器人机械臂时具有优势。
Jacobian-based methods of singularity analysis are known to be unreliable when applied to kinematically redundant parallel robot manipulators, due to their potential to miss certain singularities and incorrectly identify others in the manipulator’s workspace. In this paper, a geometric method of singularity avoidance for kinematically redundant planar parallel robot manipulators is presented, which firstly determines the manipulator’s proximity to a singularity and then computes how the kinematically redundant degree(s) of freedom should be optimised for the given pose of the end-effector. The singularity analysis is conducted by examining the mechanism in terms of the instantaneous centres of rotation of its corresponding mobility one sub-mechanisms when all but one of the actuators are locked, where the manipulator is in a type-II singularity when these points either are indeterminable or coincide with one another, and an index,rmin, is introduced which describes the minimum normalised distance from such conditions being met. A predictor-corrector method is employed to compute the configuration for whichrminis optimised, and is reachable without crossing a singularity. Finally, the advantages of the geometric method of singularity analysis are shown in comparison to traditional Jacobian-based methods when applied to kinematically redundant parallel robot manipulators.
三自由度平面并联机器人设计的工作空间和奇点特性研究
DOI：
--
发表时间：
2010
期刊：
影响因子：
--
作者：
Ming Z. Huang;J. Thebert
通讯作者：
J. Thebert
DOI：
10.1109/70.56660
发表时间：
1990-06-01
期刊：
IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION
影响因子：
--
作者：
GOSSELIN, C;ANGELES, J
通讯作者：
ANGELES, J
影响因子：
1.4
作者：
H. Daniali
通讯作者：
H. Daniali