Workspace generation and planning singularity-free path for parallel manipulators

被引：137

作者：

Dash, AK

Chen, IM ^{[1
]}

Yeo, SH

Yang, GL

机构：

[1] Nanyang Technol Univ, Sch Mech & Prod Engn, Singapore 639798, Singapore

[2] Singapore Inst Mfg Technol, Automat Technol Div, Singapore 638075, Singapore

来源：

MECHANISM AND MACHINE THEORY | 2005年 / 40卷 / 07期

关键词：

detection of voids; reachable workspace; multiprocessor search; density-based clustering; obstacle avoidance; singularity-free path;

D O I：

10.1016/j.mechmachtheory.2005.01.001

中图分类号：

TH [机械、仪表工业];

学科分类号：

0802 [机械工程];

摘要：

This paper presents a numerical technique for path planning inside the reachable workspace of parallel manipulators avoiding singularity. A generic numerical algorithm for generating the reachable workspace of parallel manipulators is described. The singularity points are determined, grouped into several clusters and modelled as obstacles. A path planning algorithm is used to find an optimal path avoiding these obstacles. Isolated singularities are avoided using local routing method based on Grassmann's line geometry. Examples are demonstrated for the effectiveness of the algorithms. (c) 2005 Elsevier Ltd. All rights reserved.

引用

页码：776 / 805

页数：30

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