OTHER
Issues of planning trajectory of parallel robots taking into account zones of singularity
Larisa Rybak, Sergey Khalapyan, Elena Gaponenko
- Year
- 2018
- Citations
- 12
- Access
- Open access
Abstract
A method for determining the design characteristics of a parallel robot necessary to provide specified parameters of its working space that satisfy the controllability requirement is developed. The experimental verification of the proposed method was carried out using an approximate planar 3-RPR mechanism.
Keywords
ControllabilitySingularityTrajectoryRobotPlanarMechanism (biology)Computer scienceParallel manipulatorSpace (punctuation)Control theory (sociology)
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