The management of parallel-manipulator singularities using joint-coupling

I. Ming Chen*, Jorge Angeles, Theingi, Chuan Li

*Corresponding author for this work

Research output: Contribution to journalConference articlepeer-review

5 Scopus citations


Joint-coupling is introduced in the design and control of parallel manipulators for purposes of singularity management. The idea behind joint-coupling is to drive several joints with one single actuator by mechanical or electronic means, while preserving the mobility of the manipulator. Such joint-coupling can affect the condition of direct singularities of parallel manipulators through its coupling coefficients. As drivability of the end-effector is affected by the direct singularities, a nonlinear optimization method is proposed to determine the appropriate coupling coefficients according to a given set of task postures. The coupling coefficients obtained in this manner can shape the direct singularity loci of the manipulator to ensure a given set of manipulator postures (tasks) free from direct singularities. Examples are included to illustrate the concept of joint-coupling and singularity management.

Original languageEnglish
Pages (from-to)773-778
Number of pages6
JournalProceedings - IEEE International Conference on Robotics and Automation
StatePublished - Sep 2003
Event2003 IEEE International Conference on Robotics and Automation - Taipei, Taiwan
Duration: 14 Sep 200319 Sep 2003


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