2自由度閉リンクマニピュレータの関節空間と作業空間の統合解析
Joint space and workspace analysis of a two-DOF closed-chain manipulator
平面パラレル機構について、クアッドツリーと区間解析を用いて関節空間と作業空間の特異点を含まない最大領域（一般化アスペクト）を計算する手法を提案し、2自由度機構で検証した。
著者: Damien Chablat
分類: cs.RO
原文アブストラクト
The aim of this paper is to compute of the generalized aspects, i.e. the maximal singularity-free domains in the Cartesian product of the joint space and workspace, for a planar parallel mechanism in using quadtree model and interval analysis based method. The parallel mechanisms can admit several solutions to the inverses and the direct kinematic models. These singular configurations divide the joint space and the workspace in several not connected domains. To compute this domains, the quadtree model can be made by using a discretization of the space. Unfortunately, with this method, some singular configurations cannot be detected as a single point in the joint space. The interval analysis based method allow us to assure that no singularities are not found and to reduce the computing times. This approach is tested on a simple planar parallel mechanism with two degrees of freedom.
