Invalid joint arrangements and actuator related singular configurations of a system of two cooperating SCARA manipulators

In this study, the actuator related singular configurations (ASCs) of a system of two cooperating SCARA manipulators, are investigated. The ASC concept was First developed for planar pairs of cooperating manipulators, and it was shown that these ill-conditions could be different from the kinematic: singularities. (Ozkan B, Ozgoren MK. Torque related singular configurations of a planar system of two coodinated manipulators. In: Proceedings of International Machine Design and Production Conference, Sept. 9-11, Ankara. Turkiye. 1998). Afterwards, this concept was applied To the spatial systems. (Ozkan B. Ozgoren MK. Actuator related singular configurations of a system of two cooperating SCARA manipulators. In: Sixth International Conference on Mechatronics and Machine Vision in Practice, Sept. 1-3, Ankara, Turkiye, 1999). In this study, the ASCs of the systems of two cooperating SCARA manipulators are examined as an application of the ASC phenomenon for the spatial systems. Also, the ''invalid" actuation arrangements of this system are also investigated. However, systems: with different manipulators can also be treated similarly.


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Özgören, Mustafa Kemal (2001-01-01)
In this paper, the constrained motion control of a normally unconstrained mechanical system is investigated. As far as its motion control is concerned, such a system will have a redundancy in its actuators due to the reduction caused in its number of degrees of freedom by the presence of the constraints. Four methods are described in order to determine the actuator and constraint forces. The first three of these methods necessitate using all the actuators and the fourth method is applicable in a case where ...
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IDER, SK (1996-01-03)
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Optimal redundancy resolution for kinematically redundant parallel manipulators
Tunç, Tansel Sıtkı; Özgören, Mustafa Kemal; Department of Mechanical Engineering (2014)
In this study, the redundancy resolution of kinematically redundant parallel manipulators has been investigated as an optimization problem. The emerging optimization problem has been solved globally using a hybrid genetic algorithm. This algorithm has been applied as an example to a planar parallel manipulator which has four degrees of freedom. It has been assumed that the manipulator is used so that only the tip point of its end-effector is controlled. Therefore, the rotation angle of the end effector has ...
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Özdemir, Mustafa; İder, S. Kemal; Department of Mechanical Engineering (2008)
In this thesis, a technique for the motion of parallel manipulators through drive singularities is investigated. To remedy the problem of unbounded inverse dynamics solution in the neighborhood of drive singularities, an inverse dynamics controller which uses a conventional inverse dynamics control law outside the neighborhood of singularities and switches to the mode based on the formerly derived modified equations inside the neighborhood of singularities is proposed. As a result, good tracking performance...
Citation Formats
B. Ozkan and M. K. Özgören, “Invalid joint arrangements and actuator related singular configurations of a system of two cooperating SCARA manipulators,” MECHATRONICS, pp. 491–507, 2001, Accessed: 00, 2020. [Online]. Available: