TY - JOUR
T1 - Analytic singularity analysis of a 4-DOF parallel robot based on jacobian deficiencies
AU - Choi, Hee Byoung
AU - Konno, Atsushi
AU - Uchiyama, Masaru
N1 - Funding Information:
__________ Manuscript received March 13, 2009; revised July 27, 2009 and September 23, 2009; accepted November 9, 2009. Recommended by Editorial Board member Dong Hwan Kim under the direction of Editor Jae-Bok Song. This research was supported by the MKE(The Ministry of Knowledge Economy), Korea, under the ITRC(Information Technology Research Center) support program supervised by the NIPA(National IT Industry Promotion Agency) (NIPA-2010-C1090-1031-0006) and BK21 project at GIST. Hee-Byoung Choi is with School of Information and Mechatronics, Gwangju Institute of Science and Technology, Gwangju, 500-712, Republic of Korea (e-mail: hbchoi@gist.ac.kr).
PY - 2010/4
Y1 - 2010/4
N2 - In this paper, analytic singularity analysis of a 4-DOF parallel robot H4 is addressed. Since a parallel manipulator consisting of several serial chains has complex singularities in the workspace, the determination of singular configurations is very important in design, trajectory planning, and control. The classical method to determine singular configurations is to find the determinant of the Jacobian matrix. However, the Jacobian matrix of a parallel manipulator is complex in general and thus it is not easy to find the determinant of the Jacobian matrix. Therefore, we focus on the analytic singularity analysis of a 4-DOF parallel robot H4 using Jacobian deficiencies. A subset of the whole singularities and the intuitively predictable ones are only derived using Jacobian matrix deficiency. Three type singularities, i.e., overmobility, undermobility and combined singularities, have been presented.
AB - In this paper, analytic singularity analysis of a 4-DOF parallel robot H4 is addressed. Since a parallel manipulator consisting of several serial chains has complex singularities in the workspace, the determination of singular configurations is very important in design, trajectory planning, and control. The classical method to determine singular configurations is to find the determinant of the Jacobian matrix. However, the Jacobian matrix of a parallel manipulator is complex in general and thus it is not easy to find the determinant of the Jacobian matrix. Therefore, we focus on the analytic singularity analysis of a 4-DOF parallel robot H4 using Jacobian deficiencies. A subset of the whole singularities and the intuitively predictable ones are only derived using Jacobian matrix deficiency. Three type singularities, i.e., overmobility, undermobility and combined singularities, have been presented.
KW - Jacobian deficiencies
KW - Parallel robot
KW - Singularity analysis
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U2 - 10.1007/s12555-010-0224-6
DO - 10.1007/s12555-010-0224-6
M3 - Article
AN - SCOPUS:77951152960
SN - 1598-6446
VL - 8
SP - 378
EP - 384
JO - International Journal of Control, Automation and Systems
JF - International Journal of Control, Automation and Systems
IS - 2
ER -