Singularity-free path planning for the Stewart platform manipulator
Data(s) |
1998
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Resumo |
This paper addresses the problem of singularity-free path planning for the six-degree-of-freedom parallel manipulator known as the Stewart platform manipulator. Unlike serial manipulators, the Stewart platform possesses singular configurations within the workspace where the manipulator is uncontrollable. An algorithm has been developed to construct continuous paths within the workspace of the manipulator by avoiding singularities and ill-conditioning. Given two end-poses of the manipulator, the algorithm finds out safe (well-conditioned) via points and plans a continuous path from the initial pose to the final one. When the two end-poses belong to different branches and no singularity-free path is possible, the algorithm indicates the impossibility of a valid path. A numerical example has also been presented as illustration of the path planning strategy. |
Formato |
application/pdf |
Identificador |
http://eprints.iisc.ernet.in/19236/1/sdarticle.pdf Dasgupta, Bhaskar and Mruthyunjaya, TS (1998) Singularity-free path planning for the Stewart platform manipulator. In: Mechanism and Machine Theory, 33 (06). pp. 711-725. |
Publicador |
Elsevier Science |
Relação |
http://www.sciencedirect.com/science?_ob=ArticleURL&_udi=B6V46-3T5GK8H-7&_user=512776&_rdoc=1&_fmt=&_orig=search&_sort=d&_docanchor=&view=c&_acct=C000025298&_version=1&_urlVersion=0&_userid=512776&md5=cd6c3d6b7210e8dffde54fe28f284753 http://eprints.iisc.ernet.in/19236/ |
Palavras-Chave | #Mechanical Engineering |
Tipo |
Journal Article PeerReviewed |