Parallel robots present singular configurations that divide the operational workspace into several aspects. It was proven that type 2 and leg passive joint twist system (LPJTS) singularities can be crossed with a trajectory respecting a given dynamic criterion. However, the practical implementation of a controller able to track such trajectories is up to now limited to restrictive cases of type 2 singularities crossing. Analyzing the structure of the inverse dynamic model, this paper proposes a global solution allowing the tracking of trajectories respecting the general criterion for any singularity that leads to potential issues of dynamic model degeneracy. The tracking is operated in the robot joint space. Experimental results on a five-bar mechanism showed the controller ability to successfully cross type 2 singularities.
Skip Nav Destination
Article navigation
October 2017
Research-Article
A Controller Avoiding Dynamic Model Degeneracy of Parallel Robots During Singularity Crossing
Damien Six,
Damien Six
LS2N, UMR CNRS 6004,
Nantes 44321, France;
Nantes 44321, France;
Search for other works by this author on:
Abdelhamid Chriette,
Abdelhamid Chriette
LS2N, UMR CNRS 6004,
Nantes 44321, France;
Nantes 44321, France;
Search for other works by this author on:
Philippe Martinet
Philippe Martinet
LS2N, UMR CNRS 6004,
Nantes 44321, France;
Nantes 44321, France;
Search for other works by this author on:
Damien Six
LS2N, UMR CNRS 6004,
Nantes 44321, France;
Nantes 44321, France;
Sébastien Briot
Abdelhamid Chriette
LS2N, UMR CNRS 6004,
Nantes 44321, France;
Nantes 44321, France;
Philippe Martinet
LS2N, UMR CNRS 6004,
Nantes 44321, France;
Nantes 44321, France;
1Corresponding author.
Manuscript received February 20, 2017; final manuscript received May 30, 2017; published online August 7, 2017. Assoc. Editor: Venkat Krovi.
J. Mechanisms Robotics. Oct 2017, 9(5): 051008 (8 pages)
Published Online: August 7, 2017
Article history
Received:
February 20, 2017
Revised:
May 30, 2017
Citation
Six, D., Briot, S., Chriette, A., and Martinet, P. (August 7, 2017). "A Controller Avoiding Dynamic Model Degeneracy of Parallel Robots During Singularity Crossing." ASME. J. Mechanisms Robotics. October 2017; 9(5): 051008. https://doi.org/10.1115/1.4037256
Download citation file:
Get Email Alerts
Analysis of Force Distribution and Motion Characteristic of Hybrid-Driven Tensegrity Parallel Mechanism
J. Mechanisms Robotics (May 2025)
Modeling and Analysis of Inter-Panel Slipping for the Design of Rolled Gossamer Arrays
J. Mechanisms Robotics (April 2025)
Origami-Inspired Collapsible Structures for Small Rotorcraft Collision Resilience and Landing
J. Mechanisms Robotics (April 2025)
Designing Multi-axis Compliant Mechanisms With Lockable Decoupled Inputs: A Tip–Tilt Case Study
J. Mechanisms Robotics (April 2025)
Related Articles
Modal Control for Active Vibration Damping of Cable-Driven Parallel Robots
J. Mechanisms Robotics (October,2020)
Gateway Configuration for Rapid Pick-and-Place Operations of 2-Degrees-of-Freedom Parallel Robots
J. Mechanisms Robotics (February,2021)
An Articulated Closed Kinematic Chain Planar Robotic Leg for High-Speed Locomotion
J. Mechanisms Robotics (August,2020)
Balance Recovery Based on Whole-Body Control Using Joint Torque Feedback for Quadrupedal Robots
J. Mechanisms Robotics (October,2021)
Related Proceedings Papers
Related Chapters
Dynamic Control Strategy of a Biped Inspired from Human Walking
Intelligent Engineering Systems through Artificial Neural Networks Volume 18
Pseudoinverse Method and Singularities Discussed
Robot Manipulator Redundancy Resolution
Motion Prediction with Gaussian Process Dynamical Models
International Conference on Information Technology and Computer Science, 3rd (ITCS 2011)