Variational approach for singularity-free path-planning of parallel manipulators.

DOI10.1016/S0094-114X(03)00065-XMaRDI QIDQ1410807zbMATH OpenWikidataFDO

Authors Shamik Sen, Asok K. Mallik, Bhaskar Dasgupta

Publication date 15 October 2003

Published in Mechanism and Machine Theory (Search for Journal in Brave)

Mathematics Subject Classification ID

Kinematics of mechanisms and robots (70B15) Robot dynamics and control of rigid bodies (70E60)

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Cited in

(9)

• Determination of the kinematically redundant active prismatic joint variable ranges of a planar parallel mechanism for singularity-free trajectories
• Statically redundant parallel robots
• A variational approach to path planning in three dimensions using level set methods
• Traversing the singularity hypersurface by applying the input disturbances to 6-SPS parallel manipulator
• Singularity distance computations for 3-RPR manipulators using intrinsic metrics
• Determination of the maximal singularity-free orientation workspace for the Gough-Stewart platform
• Non-singular assembly-mode changing motions for 3-R{\b P}R parallel manipulators
• Singularity-consistent path planning and motion control through instantaneous self-motion singularities of parallel-link manipulators
• A novel method to avoid turning point singularities for the semi-regular hexagons Gough-Stewart parallel manipulator

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