Online Determination of kinematic Singularities without Jacobian Matrices
Conference: ISR/Robotik 2014 - 45th International Symposium on Robotics; 8th German Conference on Robotics
06/02/2014 - 06/03/2014 at München, Germany
Proceedings: ISR/Robotik 2014
Pages: 6Language: englishTyp: PDF
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Authors:
Schlosser, Christian; Koetter, Tobias; Schueppstuhl, Thorsten (Institute of Aircraft Production Technology, Hamburg University of Technology, Denickestr. 17, 21073 Hamburg, Germany)
Abstract:
One of the major issues concerning parallel kinematic structures is singularity handling. As a result the mathematical treatment of kinematic singularities has been extensively studied [1]. Particularly for the practical application of parallel kinematic machines a save determination of singular configurations is necessary. The proposed method is developed for an implementation into a robot control to assure a safe and singularity free motion.