Related papers: On homotopy continuation based singularity distanc…
It is well-known that parallel manipulators are prone to singularities. However, there is still a lack of distance evaluation functions, referred to as metrics, for computing the distance between two 3-RPR configurations. The proposed…
We present an efficient algorithm for computing the closest singular configuration to each non-singular pose of a 3-RPR planar manipulator performing a 1-parametric motion. By considering a 3-RPR manipulator as a planar framework, one can…
The kinematic/robotic community is not only interested in measuring the closeness of a given robot configuration to its next singular one but also in a geometric meaningful index evaluating how far the robot design is away from being…
This paper investigates the cuspidal configurations of 3-RPR parallel manipulators that may appear on their singular surfaces in the joint space. Cusp points play an important role in the kinematic behavior of parallel manipulators since…
A class of analytic planar 3-RPR manipulators is analyzed in this paper. These manipulators have congruent base and moving platforms and the moving platform is rotated of 180 deg about an axis in the plane. The forward kinematics is reduced…
The singularities of serial robotic manipulators are those configurations in which the robot loses the ability to move in at least one direction. Hence, their identification is fundamental to enhance the performance of current control and…
This paper investigates the singular curves in the joint space of a family of planar parallel manipulators. It focuses on special points, referred to as cusp points, which may appear on these curves. Cusp points play an important role in…
The realization space of geometric constraint systems is given by the vanishing locus of polynomials corresponding to natural geometric constraints. Such geometric constraint systems arise in many real-world scenarios such as structural…
This paper presents an algorithm for detecting and computing the cusp points in the joint space of 3-RPR planar parallel manipulators. In manipulator kinematics, cusp points are special points, which appear on the singular curves of the…
We consider the problem of tracking one solution path defined by a polynomial homotopy on a parallel shared memory computer. Our robust path tracker applies Newton's method on power series to locate the closest singular parameter value. On…
This paper investigates the singular curves in two-dimensional slices of the joint space of a family of planar parallel manipulators. It focuses on special points, referred to as cusp points, which may appear on these curves. Cusp points…
The goal of Point Distance Solving Problems is to find 2D or 3D placements of points knowing distances between some pairs of points. The common guideline is to solve them by a numerical iterative method (\emph{e.g.} Newton-Raphson method).…
We propose a sequential homotopy method for the solution of mathematical programming problems formulated in abstract Hilbert spaces under the Guignard constraint qualification. The method is equivalent to performing projected backward Euler…
In this paper, a method to compute joint space singularity surfaces of 3-RPR planar parallel manipulators is first presented. Then, a procedure to determine maximal joint space singularity-free boxes is introduced. Numerical examples are…
This paper investigates singular configurations of planar 3-RPR parallel manipulators, which result from applying the averaging technique to solution pairs of their direct kinematic problem. Without computing the zeros of the corresponding…
We study in this paper a class of 3-RPR manipulators for which the direct kinematic problem (DKP) is split into a cubic problem followed by a quadratic one. These manipulators are geometrically characterized by the fact that the moving…
Trajectory planning is a critical step while programming the parallel manipulators in a robotic cell. The main problem arises when there exists a singular configuration between the two poses of the end-effectors while discretizing the path…
The class of linear pentapods with a simple singularity variety is obtained by imposing architectural restrictions on the design in such a way that the manipulators singularity variety is linear in orientation position variables. It turns…
This paper studies the kinematic geometry of general 3-RPR planar parallel robots with actuated base joints. These robots, while largely overlooked, have simple direct kinematics and large singularity-free workspace. Furthermore, their…
This paper deals with the comparison of planar parallel manipulator architectures based on a multi-objective design optimization approach. The manipulator architectures are compared with regard to their mass in motion and their regular…