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dc.contributor.authorAlberich Carramiñana, Maria
dc.contributor.authorGarolera, M
dc.contributor.authorThomas, Federico
dc.contributor.authorTorras, Carme
dc.contributor.otherUniversitat Politècnica de Catalunya. Departament de Matemàtica Aplicada I
dc.contributor.otherUniversitat Politècnica de Catalunya. Departament de Llenguatges i Sistemes Informàtics
dc.contributor.otherUniversitat Politècnica de Catalunya. Departament d'Enginyeria de Sistemes, Automàtica i Informàtica Industrial
dc.date.accessioned2010-11-08T19:26:55Z
dc.date.available2010-11-08T19:26:55Z
dc.date.created2009-08
dc.date.issued2009-08
dc.identifier.citationAlberich, M. [et al.]. Partially flagged parallel manipulators: singularity charting and avoidance. "IEEE transactions on robotics", Agost 2009, vol. 25, núm. 4, p. 771-784.
dc.identifier.issn1552-3098
dc.identifier.urihttp://hdl.handle.net/2117/10186
dc.description.abstractThere are only three 6-SPS parallelmanipulatorswith triangular base and platform, i.e., the octahedral, the flagged, and the partially flagged, which are studied in this paper. The forward kinematics of the octahedralmanipulator is algebraically intricate, while those of the other two can be solved by three trilaterations. As an additional nice feature, the flagged manipulator is the only parallel platform for which a cell decomposition of its singularity locus has been derived. Here, we prove that the partially flagged manipulator also admits a well-behaved decomposition, technically called a stratification, some of whose strata are not topological cells, however. Remarkably, the adjacency diagram of the 5-D and 6-D strata (which shows what 5-D strata are contained in the closure of a 6-D one) is the same as for the flaggedmanipulator. The availability of such a decomposition permits devising a redundant 7-SPS manipulator, combining two partially flagged ones, which admits a control strategy that completely avoids singularities. Simulation results support these claims.
dc.format.extent14 p.
dc.language.isoeng
dc.rightsAttribution-NonCommercial-NoDerivs 3.0 Spain
dc.rights.urihttp://creativecommons.org/licenses/by-nc-nd/3.0/es/
dc.subjectÀrees temàtiques de la UPC::Informàtica::Robòtica
dc.subject.lcshRobots -- Dynamics
dc.subject.otherConfiguration space
dc.subject.otherkinematics singularities
dc.subject.otherparallel manipulators
dc.subject.otherredundant manipulators
dc.subject.otherrobot design.
dc.titlePartially flagged parallel manipulators: singularity charting and avoidance
dc.typeArticle
dc.subject.lemacRobots -- Dinàmica
dc.contributor.groupUniversitat Politècnica de Catalunya. EGSA - Equacions Diferencials, Geometria, Sistemes Dinàmics i de Control, i Aplicacions
dc.identifier.doi10.1109/TRO.2009.2018970
dc.description.peerreviewedPeer Reviewed
dc.subject.inspecClassificació INSPEC::Automation::Robots::Robot kinematics
dc.relation.publisherversionhttp://dx.doi.org/10.1109/TRO.2009.2018970
dc.rights.accessOpen Access
local.identifier.drac791189
dc.description.versionPostprint (published version)
local.citation.authorAlberich, M.; Garolera, M.; Thomas, F.; Torras, C.
local.citation.publicationNameIEEE transactions on robotics
local.citation.volume25
local.citation.number4
local.citation.startingPage771
local.citation.endingPage784


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