A branch and prune algorithm for the computation of generalized aspects of parallel robots

Parallel robots enjoy enhanced mechanical characteristics that have to be contrasted with a more complicated design. In particular, they often have parallel singularities at some poses, and the robots may become uncontrollable, and could even be damaged, in such configurations. The computation of th...

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Bibliographic Details
Published in:Artificial intelligence Vol. 211; pp. 34 - 50
Main Authors: Caro, S., Chablat, D., Goldsztejn, A., Ishii, D., Jermann, C.
Format: Journal Article
Language:English
Published: Oxford Elsevier B.V 01.06.2014
Elsevier
Subjects:
Applied sciences
Computer science; control theory; systems
Control theory. Systems
Electronics
Engineering Sciences
Exact sciences and technology
Generalized aspects
Modelling and identification
Numerical constraints
Parallel robots
Robotics
Singularities
Numerical constraints
Parallel robots
Singularities
Generalized aspects
Branching
Lower bound
Singularity
Parallel mechanism
Reachability analysis
Computational complexity
Robotics
Reachability
Mechanical characteristic
Linkage mechanism
Collision avoidance
Counting
Workspace
ISSN:0004-3702, 1872-7921
Online Access:Get full text
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Summary:Parallel robots enjoy enhanced mechanical characteristics that have to be contrasted with a more complicated design. In particular, they often have parallel singularities at some poses, and the robots may become uncontrollable, and could even be damaged, in such configurations. The computation of the connected components in the set of nonsingular reachable configurations, called generalized aspects, is therefore a key issue in their design. This paper introduces a new method, based on numerical constraint programming, to compute a certified enclosure of the generalized aspects. Though this method does not allow counting their number rigorously, it constructs inner approximations of the nonsingular workspace that allow commanding parallel robots safely. It also provides a lower-bound on the exact number of generalized aspects. It is moreover the first general method able to handle any parallel robot in theory, though its computational complexity currently restricts its usage to robots with three degrees of freedom. Finally, the constraint programming paradigm it relies on makes it possible to consider various additional constraints (e.g., collision avoidance), making it suitable for practical considerations.
ISSN:0004-3702
1872-7921
DOI:10.1016/j.artint.2014.02.001