完全並列マニピュレータにおけるワークスペースとアセンブリモード：記述的研究
Workspace and Assembly modes in Fully-Parallel Manipulators : A Descriptive Study
完全並列マニピュレータを例に、ワークスペース内でのアセンブリモードの分布と軌道実行における役割を説明し、特異・非特異的なモード変化を比較分析した研究。
著者: Philippe Wenger, Damien Chablat
分類: cs.RO
原文アブストラクト
The goal of this paper is to explain, using a typical example, the distribution of the different assembly modes in the workspace and their effective role in the execution of trajectories. The singular and non-singular changes of assembly mode are described and compared to each other. The non-singular change of assembly mode is more deeply analysed and discussed in the context of trajectory planning. In particular, it is shown that, according to the location of the initial and final configurations with respect to the uniqueness domains in the workspace, there are three different cases to consider before planning a linking trajectory.
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