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Enlarging parallel robot workspace through Type-2 singularity crossing
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DOI：10.1016/j.conengprac.2015.01.009.png)
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Abstract
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In order to increase the reachable workspace of parallel robots, a promising solution consists of the definition of optimal trajectories that ensure the non-degeneracy of the dynamic model in the Type 2 (or parallel) singularity. However, this assumes that the control law can perfectly track the desired trajectory, which is impossible due to modeling errors. This paper proposes a robust multi-model approach allowing parallel robots to cross Type 2 singularities. The main idea is to shift near singularities to a simplified dynamic model that can never degenerate. The two main contributions are the definition of an optimal trajectory crossing Type 2 singularities and the multi-model control law allowing to track this trajectory. The proposed control law is validated experimentally through a Five-bar planar mechanism. (C) 2015 Elsevier Ltd. All rights reserved.
Keywords:
Parallel robots
Computed torque control
Multi-model approach
Singularities
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