Computer Science – Robotics
Scientific paper
2007-07-13
12th CISM-IFTOMM Symposium (07/1998) 1-8
Computer Science
Robotics
Scientific paper
The aim of this paper is to characterize the moveability of fully-parallel manipulators in the presence of obstacles. Fully parallel manipulators are used in applications where accuracy, stiffness or high speeds and accelerations are required \cite{Merlet:97}. However, one of its main drawbacks is a relatively small workspace compared to the one of serial manipulators. This is due mainly to the existence of potential internal collisions, and the existence of singularities. In this paper, the notion of free aspect is defined which permits to exhibit domains of the workspace and the joint space free of singularity and collision. The main application of this study is the moveability analysis in the workspace of the manipulator as well as path-planning, control and design.
Chablat Damien
Wenger Philippe
No associations
LandOfFree
Moveability and Collision Analysis for Fully-Parallel Manipulators does not yet have a rating. At this time, there are no reviews or comments for this scientific paper.
If you have personal experience with Moveability and Collision Analysis for Fully-Parallel Manipulators, we encourage you to share that experience with our LandOfFree.com community. Your opinion is very important and Moveability and Collision Analysis for Fully-Parallel Manipulators will most certainly appreciate the feedback.
Profile ID: LFWR-SCP-O-60276