Abstract
In this work a geometrical and a physically based method for the detection of singularities are presented, which provide information about the distance of a given position to singularities. The integration of this singularity detection into a robot controller is presented and validated by experimental results. Based on these results a path planning algorithm that avoids singularities is developed. It uses a particle based randomizing scheme for finding a path within the workspace to which a virtual potential field is applied. The HexaII demonstrator of the Collaborative Research Center 562 serves as a validation platform for this algorithm. The singularity avoidance path planner is integrated into the real-time context of the control application RCA562, from which experimental results are presented.
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Dietrich, F., Maaß, J., Bier, C., Pietsch, I., Raatz, A., Hesselbach, J. (2010). Detection and Avoidance of Singularities in Parallel Kinematic Machines. In: Schütz, D., Wahl, F.M. (eds) Robotic Systems for Handling and Assembly. Springer Tracts in Advanced Robotics, vol 67. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-16785-0_5
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DOI: https://doi.org/10.1007/978-3-642-16785-0_5
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