DocumentCode
2187775
Title
Inverse kinematic solutions for parallel robots with singularity robustness
Author
Hsiao, Lin ; Perng, Ming-Hwei
Author_Institution
Dept. of Power Mech. Eng., Nat. Tsing Hua Univ., Hsinchu, Taiwan
Volume
1
fYear
1997
fDate
3-6 Aug 1997
Firstpage
501
Abstract
Two inverse kinematic solutions with singularity robustness for parallel robot manipulators are proposed in this paper using, respectively, velocity constraint and force constraint. They are unified in a general damped least-squares method with feedback corrections introduced to eliminate positioning error in resolved-rate control (ORRCFC). Both solutions are shown to be stable
Keywords
feedback; least squares approximations; manipulator kinematics; robust control; damped least-squares method; feedback corrections; force constraint; inverse kinematic solutions; parallel robots; positioning error; resolved-rate control; robot manipulators; singularity robustness; stable solutions; velocity constraint; Cost function; Error correction; Feedback; Jacobian matrices; Kinematics; Manipulators; Mechanical engineering; Parallel robots; Robot sensing systems; Robustness;
fLanguage
English
Publisher
ieee
Conference_Titel
Circuits and Systems, 1997. Proceedings of the 40th Midwest Symposium on
Conference_Location
Sacramento, CA
Print_ISBN
0-7803-3694-1
Type
conf
DOI
10.1109/MWSCAS.1997.666183
Filename
666183
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