並列マニピュレータの順運動学における定義集合
Definition sets for the Direct Kinematics of Parallel Manipulators
並列マニピュレータの作業空間における一意性領域とその関節空間像を特徴づけ、特異点を経ずに順運動学の複数解が連結しうることを示して新たな一意性領域を定義した研究。
著者: Philippe Wenger, Damien Chablat
分類: cs.RO
原文アブストラクト
The aim of this paper is to characterize the uniqueness domains in the workspace of parallel manipulators, as well as their image in the joint space. The notion of aspect introduced for serial manipulators in [Borrel 86] is redefined for such parallel manipulators. Then, it is shown that it is possible to link several solutions to the direct kinematic problem without meeting a singularity, thus meaning that the aspects are not uniqueness domains. Additional surfaces are characterized in the workspace which yield new uniqueness domains. An octree model of spaces is used to compute the joint space, the workspace and all other newly defined sets. This study is illustrated all along the paper with a 3-RPR planar parallel manipulator.
