عنوان

Topological Methods for Singularity-Free Path-Planning.

9533070730

9789533070735

b610580

Topological Methods for Singularity-Free Path-Planning.

[Book]

Davide Paganelli

INTECH Open Access Publisher

2010

This work presented a numerical method able to count and identify the PSFRs and the ACs carved by the singularity locus in the configuration space of a manipulator, and its application to three types of parallel manipulators. In principle, this method works for any manipulator, but some very particular cases, where there are degenerate critical points of the Jacobian determinant. The application is rather simple, except the determination of all critical points of the Jacobian determinant on the configuration space. This part of the procedure reduces in most cases to the determination of all solutions to a polynomial equation set, that might be a very hard task in practice, although it is always theoretically possible. However, if the determination of the critical points of the Jacobian determinant is viable, like the presented examples, the proposed method represents a stable and powerful tool for analyzing the topology of the singularity locus and for planning singularity-free paths. The proposed method does not take into account the possible reduction of configuration space of a manipulator due to the mechanical interference between the links, or by actuator limits. The analysis of the singularity locus under the additional constraint that no collision between the links takes place is a possible future development of the proposed method, as well as its application to more parallel manipulators with six degrees of freedom.

Open Access Collection.

Davide Paganelli

Davide Paganelli

[Book]

Y