Institute of Assembly Technology and Robotics Research Publications
A General Approach to Solve the Singular Kinematic Problem

A General Approach to Solve the Singular Kinematic Problem

Categories Konferenz
Year 2007
Authors Last, P.; Raatz, A.; Carretero, J.-A.; O`Brien, S. M.
Published in 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), San Diego, CA, USA, 2007

Recently, a sophisticated and advanced strategy for kinematic calibration of parallel manipulators has been reported. The strategy relies on passing type two singularities (i.e., direct kinematic singularities) and is therefore referred to as singularity-based calibration. Within the parameter estimation process, the singularity-based calibration technique requires to solve a so-called singular kinematic problem (SKP). That is, it involves finding the position of one actuator for which the structure is in a singular configuration of type two under the condition that all other actuators are held at known constant positions. So far, this problem could only be solved for some simple manipulators and structure classes with a maximum of three degree of freedom and thereby limiting the applicability of the singularity-based calibration approach. This article contributes a general approach to close this gap making singularity-based calibration widely applicable. The technique will be demonstrated by means of exemplarily chosen parallel kinematic structures.

ISBN 978-1-4244-0912-9
DOI 10.1109/IROS.2007.4399218