Singularity-consistent path planning and motion control through instantaneous self-motion singularities of parallel-link manipulators

DOI10.1002/(SICI)1097-4563(199701)14:1%3C27::AID-ROB3%3E3.0.CO;2-WMaRDI QIDQ4359903zbMATH OpenOpenAlexFDO

Authors D. N. Nenchev, Masaru Uchiyama

Publication date 25 November 1997

Full work available at URL https://doi.org/10.1002/(sici)1097-4563(199701)14:1%3C27::aid-rob3%3E3.0.co;2-w

zbMATH Keywords

asymptotic stabilityHEXA parallel robotplanar five bar mechanismpre-defined parametrized pathvelocity-command generator type closed-loop controller

Mathematics Subject Classification ID

Kinematics of mechanisms and robots (70B15) Control of mechanical systems (70Q05)

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Cited in

(6)

• scientific article; zbMATH DE number 798831 (Why is no real title available?)
• Natural motion and singularity-consistent inversion of robot manipulators
• Characterizing the configuration space of the 3-SPS-S spatial orientation parallel manipulator
• Motion pattern singularity in lower mobility parallel manipulators
• Path generation with singularity avoidance for five-bar slider-crank parallel manipulators
• Singularity characterization and path planning of a new 3 links 6-DOFs parallel manipulator

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