Institut für Montagetechnik und Industrierobotik Forschung Publikationen
Detection and Avoidance of Singularities in Parallel Kinematic Machines

Detection and Avoidance of Singularities in Parallel Kinematic Machines

Kategorien Beiträge in Büchern
Jahr 2010
Autoren Dietrich, F.; Maaß, J.; Bier, C.; Pietsch, I.; Raatz, A.; Hesselbach, J.
Veröffentlicht in Schütz, Daniel; Wahl, Friedrich: Robotic Systems for Handling and Assembly, Springer-Verlag, Star Series, Berlin u.a., 2010, pp. 77-92
Beschreibung

In this work a geometrical and a physically based method for the detection of singularities are presented, which provide information about the distance of a given position to singularities. The integration of this singularity detection into a robot controller is presented and validated by experimental results. Based on these results a path planning algorithm that avoids singularities is developed. It uses a particle based randomizing scheme for finding a path within the workspace to which a virtual potential field is applied. The HexaII demonstrator of the Collaborative Research Center 562 serves as a validation platform for this algorithm. The singularity avoidance path planner is integrated into the real-time context of the control application RCA562, from which experimental results are presented.

ISBN 978-3-642-16784-3
DOI 10.1007/978-3-642-16785-0_5