Institute of Assembly Technology and Robotics Research Publications
Magnetische Formgedächtnisaktoren – Konzepte und prototypische Umsetzung für potentielle Anwendungen

Detection and Avoidance of Singularities in Parallel Kinematic Machines

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

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