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• W2050865813 abstract "In order to increase the reachable workspace of parallel robots, a promising solution consists of the definition of optimal trajectories that ensure the non-degeneracy of the dynamic model in the Type 2 (or parallel) singularity. However, this assumes that the control law can perfectly track the desired trajectory, which is impossible due to modeling errors. This paper proposes a robust multi-model approach allowing parallel robots to cross Type 2 singularities. The main idea is to shift near singularities to a simplified dynamic model that can never degenerate. The two main contributions are the definition of an optimal trajectory crossing Type 2 singularities and the multi-model control law allowing to track this trajectory. The proposed control law is validated experimentally through a Five-bar planar mechanism." @default.
• W2050865813 created "2016-06-24" @default.
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• W2050865813 date "2015-06-01" @default.
• W2050865813 modified "2023-10-16" @default.
• W2050865813 title "Enlarging parallel robot workspace through Type-2 singularity crossing" @default.
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• W2050865813 doi "https://doi.org/10.1016/j.conengprac.2015.01.009" @default.
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