Inverse dynamics of parallel manipulators in the presence of drive singularities

Date

2005-01-01

Author

Ider, SK

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At drive singularities of parallel manipulators the actuators lose control of the end-effector in certain directions. It is shown that if certain conditions related to the consistency of the dynamic equations are satisfied by a proper design of the trajectory, the manipulator can pass through the singular positions while the actuator forces and the system motion remain stable. To find the values of the actuator forces in the neighborhood of the drive singularities, the dynamic equations are modified by using higher order derivative information.

Subject Keywords

Mechanical Engineering, Mechanics of Materials, Bioengineering, Computer Science Applications

URI

https://hdl.handle.net/11511/64335

Journal

MECHANISM AND MACHINE THEORY

DOI

https://doi.org/10.1016/j.mechmachtheory.2004.05.007

Collections

Department of Mechanical Engineering, Article

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Citation Formats

S. Ider, “Inverse dynamics of parallel manipulators in the presence of drive singularities,” MECHANISM AND MACHINE THEORY, pp. 33–44, 2005, Accessed: 00, 2020. [Online]. Available: https://hdl.handle.net/11511/64335.