Singular cases of the planar parallel robot

0411080 - UTIA-B 20030067 CZ eng K - Conference Paper (Czech conference)
Belda, Květoslav - Stejskal, V.
Singular cases of the planar parallel robot.
Prague: Czech Technical University, 2003. ISBN 80-86246-18-3. In: Engineering Mechanics 2003. - (Náprstek, J.; Fischer, C.), s. 1-8
[Engineering Mechanics 2003. Svratka (CZ), 12.05.2003-15.05.2003]
R&D Projects: GA ČR GA101/03/0620
Institutional research plan: CEZ:AV0Z1075907
Keywords : planar parallel robot * singular analysis * kinematic transformations
Subject RIV: BC - Control Systems Theory
http://library.utia.cas.cz/separaty/historie/belda-0411080.pdf

Singular cases - singularities of the robot are defined as positions in which the robot loses kinematic definiteness. The loss appears in both direct and inverse kinematic transformation. Existence of the singularities in the robot workspace causes sharp changes in profiles of the velocities and accelerations and changes in force effects. The objective of this paper is to investigate singularities (singular positions) of one parallel robot structure and to simply classify such singular cases.
Permanent Link: http://hdl.handle.net/11104/0131167