3-RPSパラレルロボットにおける作業空間内の非特異アセンブリモード切替軌道
Non-singular assembly mode changing trajectories in the workspace for the 3-RPS parallel robot
3-RPSパラレルロボットの各動作モードについて特性曲面を計算し、作業空間内で非特異的にアセンブリモードを切り替えられる軌道の存在をヤコビアン行列式の解析で検証した論文。
著者: Damien Chablat, Ranjan Jha, Fabrice Rouillier, Guillaume Moroz
分類: cs.RO
原文アブストラクト
Having non-singular assembly modes changing trajectories for the 3-RPS parallel robot is a well-known feature. The only known solution for defining such trajectory is to encircle a cusp point in the joint space. In this paper, the aspects and the characteristic surfaces are computed for each operation mode to define the uniqueness of the domains. Thus, we can easily see in the workspace that at least three assembly modes can be reached for each operation mode. To validate this property, the mathematical analysis of the determinant of the Jacobian is done. The image of these trajectories in the joint space is depicted with the curves associated with the cusp points.
