Original title: Singular cases of the planar parallel robot
Authors: Belda, Květoslav ; Stejskal, V.
Document type: Papers
Conference/Event: Engineering Mechanics 2003, Svratka (CZ), 2003-05-12 / 2003-05-15
Year: 2003
Language: eng
Abstract: 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.
Keywords: kinematic transformations; planar parallel robot; singular analysis
Project no.: CEZ:AV0Z1075907 (CEP), GA101/03/0620 (CEP)
Funding provider: GA ČR
Host item entry: Engineering Mechanics 2003

Institution: Institute of Information Theory and Automation AS ČR (web)
Document availability information: Fulltext is available at external website.
External URL: http://library.utia.cas.cz/separaty/historie/belda-0411080.pdf
Original record: http://hdl.handle.net/11104/0131167

Permalink: http://www.nusl.cz/ntk/nusl-34985


The record appears in these collections:
Research > Institutes ASCR > Institute of Information Theory and Automation
Conference materials > Papers