Abstract
Robot design in contexts such as computer-assisted medical interventions remains challenging. Compact, dexterous mechanisms with particular mobilities are needed, the synthesis of which requires a systematic evaluation of workspace and singular positions. The evaluation of singular positions and their classification are still difficult to perform in a systematic manner. In this paper, an automated method is presented and evaluated on a complex planar mechanism. A higher-order continuation method is used to provide continuous and accurate representation of singular locii. Classification is then performed by testing all the existing singularity types through a direct evaluation. Only the mechanism loop-closure equations are required thanks to automatic differentiation and the Diamanlab software developed for use of continuation. The evaluation of the method shows promising results.
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Notes
- 1.
Stands for Différentiation Automatique de la Méthode Asymptotique Numérique Typée.
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Acknowledgements
This work was supported by the French government research program Investissements d’avenir through the Robotex Equipment of Excellence (ANR-10-EQPX-44).
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Hentz, G., Charpentier, I., Rubbert, L., Renaud, P. (2018). A Taylor-Based Continuation Method for the Determination and Classification of Robot Singularities. In: Lenarčič, J., Merlet, JP. (eds) Advances in Robot Kinematics 2016. Springer Proceedings in Advanced Robotics, vol 4. Springer, Cham. https://doi.org/10.1007/978-3-319-56802-7_43
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DOI: https://doi.org/10.1007/978-3-319-56802-7_43
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