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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Vydané v:	Artificial intelligence Ročník 211; s. 34 - 50
Hlavní autori:	Caro, S., Chablat, D., Goldsztejn, A., Ishii, D., Jermann, C.
Médium:	Journal Article
Jazyk:	English
Vydavateľské údaje:	Oxford Elsevier B.V 01.06.2014 Elsevier
Predmet:	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
On-line prístup:	Získať plný text
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