Rational Parametrization of Linear Pentapod's Singularity Variety and the Distance to it
Robotics
2017-12-01 v4
Abstract
A linear pentapod is a parallel manipulator with five collinear anchor points on the motion platform (end-effector), which are connected via extendible legs to the base. This manipulator has five controllable degrees-of-freedom and the remaining one is a free rotation around the motion platform axis (which in fact is an axial spindle). In this paper we present a rational parametrization of the singularity variety of the linear pentapod. Moreover we compute the shortest distance to this rational variety with respect to a suitable metric. Kinematically this distance can be interpreted as the radius of the maximal singularity free-sphere.
Keywords
Cite
@article{arxiv.1701.09107,
title = {Rational Parametrization of Linear Pentapod's Singularity Variety and the Distance to it},
author = {Arvin Rasoulzadeh and Georg Nawratil},
journal= {arXiv preprint arXiv:1701.09107},
year = {2017}
}