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research-article

A Controller Avoiding Dynamic Model Degeneracy of Parallel Robots during Singularity Crossing

[+] Author and Article Information
Damien Six

LS2N, UMR CNRS 6004; Ecole Centrale Nantes, Nantes 44300, France
damien.six@ls2n.fr

Sebastien Briot

LS2N, UMR CNRS 6004
sebastien.briot@ls2n.fr

Abdelhamid Chriette

LS2N, UMR CNRS 6004; Ecole Centrale Nantes, Nantes 44300, France
abdelhamid.chriette@ls2n.fr

Philippe Martinet

LS2N, UMR CNRS 6004; Ecole Centrale Nantes, Nantes 44300, France
philippe.martinet@ls2n.fr

1Corresponding author.

ASME doi:10.1115/1.4037256 History: Received February 20, 2017; Revised May 30, 2017

Abstract

Parallel robots present singular configurations that divide the operational workspace into several aspects. It was proven that Type 2 and Leg Passive Joint Twist System singularities can be crossed with a trajectory respecting a given dynamic criterion. However, the practical implementation of a controller able to track such trajectories is up to now limited to restrictive cases of Type 2 singularities crossing. Analyzing the structure of the inverse dynamic model, this paper proposes a global solution allowing the tracking of trajectories respecting the general criterion for any singularity that leads to potential issues of dynamic model degeneracy. The tracking is operated in the robot joint space. Experimental results on a five-bar mechanism showed the controller ability to successfully cross Type 2 singularities.

Copyright (c) 2017 by ASME
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