Abstract
Parallel robots presents singular configurations that divide the operational workspace into several aspects. It was proven that such singularities can be crossed under the constraint of a dynamic criterion. However, the practical implementation of a robust controller able to track such trajectories is, up to now, limited to a more restrictive criterion. By solving the inverse dynamic model in the singularity for the general case, we implemented a controller in Cartesian space able to track a trajectory crossing a Type 2 singularity.
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Notes
- 1.
Even if the case rarely appears on existing parallel robots, the results can be extended to a higher order degeneracy.
- 2.
We consider that \(\mathbf {B}\) is full rank. This hypothesis is taken as the case of the coincidence of two singularities is extremely rare and generally avoided in the design of a parallel robot. Note that the computation of \(\mathbf {B}^{-T}\) is not necessary in the inverse dynamic model away from a type 2 singularity.
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Six, D., Briot, S., Chriette, A., Martinet, P. (2017). A Controller for Avoiding Dynamic Model Degeneracy of Parallel Robots During Type 2 Singularity Crossing. In: Wenger, P., Flores, P. (eds) New Trends in Mechanism and Machine Science. Mechanisms and Machine Science, vol 43. Springer, Cham. https://doi.org/10.1007/978-3-319-44156-6_60
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DOI: https://doi.org/10.1007/978-3-319-44156-6_60
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