デルタ型パラレルロボットの作業空間と特異点解析
Workspace and Singularity analysis of a Delta like family robot
デルタ類似のパラレルロボット群について、グレブナー基底と円筒代数分解を用いて作業空間・関節空間・特異点を解析し、設計選択に役立つ3次元可視化と複雑さの比較表を提供した論文。
著者: R. Jha, Damien Chablat, Fabrice Rouillier, G. Moroz
分類: cs.RO
原文アブストラクト
Workspace and joint space analysis are essential steps in describing the task and designing the control loop of the robot, respectively. This paper presents the descriptive analysis of a family of delta-like parallel robots by using algebraic tools to induce an estimation about the complexity in representing the singularities in the workspace and the joint space. A Gr{\"o}bner based elimination is used to compute the singularities of the manipulator and a Cylindrical Algebraic Decomposition algorithm is used to study the workspace and the joint space. From these algebraic objects, we propose some certified three dimensional plotting describing the the shape of workspace and of the joint space which will help the engineers or researchers to decide the most suited configuration of the manipulator they should use for a given task. Also, the different parameters associated with the complexity of the serial and parallel singularities are tabulated, which further enhance the selection of the different configuration of the manipulator by comparing the complexity of the singularity equations.
