Related papers: Singularities of serial robots: Identification and…
Articulated robots such as manipulators increasingly must operate in uncertain and dynamic environments where interaction (with human coworkers, for example) is necessary. In these situations, the capacity to quickly adapt to unexpected…
Singularity in robot controls is an important problem. By identifying an appropriate trajectory for the robots, the singular situations can be avoided. In this paper an identification algorithm is proposed to control the robot such that it…
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…
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…
Workspace and joint space analysis are essential steps in describing the task and designing the control loop of the robot, respectively. This paper presents the descriptive analysis of a family of delta-like parallel robots by using…
The linearization of the equations of motion of a robotics system about a given state-input trajectory, including a controlled equilibrium state, is a valuable tool for model-based planning, closed-loop control, gain tuning, and state…
With the increase in complexity of robotic systems and the rise in non-expert users, it can be assumed that task constraints are not explicitly known. In tasks where avoiding singularity is critical to its success, this paper provides an…
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…
Parallel robots (PRs) have singular configurations where the robot gains at least one degree of freedom and loses control. Theoretically, such singularity occurs when the Forward Jacobian-matrix determinant becomes zero (Type II). However,…
It is known that parallel manipulators suffer from singular configurations. Evaluating the distance between a given configuration to the closest singular one is of interest for industrial applications (e.g.\ singularity-free path planning).…
This work addresses the inverse kinematics of serial robots using conformal geometric algebra. Classical approaches include either the use of homogeneous matrices, which entails high computational cost and execution time or the development…
Parallel robots (PRs) are closed-chain manipulators with diverse applications due to their accuracy and high payload. However, there are configurations within the workspace named Type II singularities where the PRs lose control of the…
Cuspidal robots can move from one inverse or direct kinematic solution to another without ever passing through a singularity. These robots have remained unknown because almost all industrial robots do not have this feature. However, in…
Answering connectivity queries in semi-algebraic sets is a long-standing and challenging computational issue with applications in robotics, in particular for the analysis of kinematic singularities. One task there is to compute the number…
Singularity analysis is essential in robot kinematics, as singular configurations cause loss of control and kinematic indeterminacy. This paper models singularities in bar frameworks as saddle points on constrained manifolds. Given an…
This work proposes a novel singularity avoidance approach for real-time trajectory optimization based on known singular configurations. The focus of this work lies on analyzing kinematically singular configurations for three robots with…
This chapter is dedicated to the so-called cuspidal robots, i.e. those robots that can move from one inverse geometric solution to another without meeting a singular confuguration. This feature was discovered quite recently and has then…
Robots with very limited capabilities are placed on the vertices of a graph and are required to move toward a single, common vertex, where they remain stationary once they arrive. This task is referred to as the GATHERING problem. Most of…
The design process and complexity of existing safety controls are heavily determined by the geometrical properties of the environment, which affects the proof of convergence, design scalability, performance robustness, and numerical…
Cuspidal robots are robots with at least two inverse kinematic solutions that can be connected by a singularity-free path. Deciding the cuspidality of generic 3R robots has been studied in the past, but extending the study to…