The management of parallel-manipulator singularities using joint-coupling

I. Ming Chen; Jorge Angeles; Theingi; Chuan Li

doi:10.1109/ROBOT.2003.1241687

The management of parallel-manipulator singularities using joint-coupling

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

^*Corresponding author for this work

Department of Biomedical Engineering

Research output: Contribution to journal › Conference article › peer-review

5 Scopus citations

Abstract

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 language	English
Pages (from-to)	773-778
Number of pages	6
Journal	Proceedings - IEEE International Conference on Robotics and Automation
Volume	1
DOIs	https://doi.org/10.1109/ROBOT.2003.1241687
State	Published - Sep 2003
Event	2003 IEEE International Conference on Robotics and Automation - Taipei, Taiwan Duration: 14 Sep 2003 → 19 Sep 2003

Access to Document

10.1109/ROBOT.2003.1241687

Cite this

@article{fa4e9bb4089d438297f1101dd9b9f5f4,

title = "The management of parallel-manipulator singularities using joint-coupling",

abstract = "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.",

author = "Chen, {I. Ming} and Jorge Angeles and Theingi and Chuan Li",

year = "2003",

month = sep,

doi = "10.1109/ROBOT.2003.1241687",

language = "English",

volume = "1",

pages = "773--778",

journal = "Proceedings - IEEE International Conference on Robotics and Automation",

issn = "1050-4729",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

note = "null ; Conference date: 14-09-2003 Through 19-09-2003",

}

TY - JOUR

T1 - The management of parallel-manipulator singularities using joint-coupling

AU - Chen, I. Ming

AU - Angeles, Jorge

AU - Theingi,

AU - Li, Chuan

PY - 2003/9

Y1 - 2003/9

N2 - 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.

AB - 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.

UR - http://www.scopus.com/inward/record.url?scp=0344876554&partnerID=8YFLogxK

U2 - 10.1109/ROBOT.2003.1241687

DO - 10.1109/ROBOT.2003.1241687

M3 - Conference article

AN - SCOPUS:0344876554

SN - 1050-4729

VL - 1

SP - 773

EP - 778

JO - Proceedings - IEEE International Conference on Robotics and Automation

JF - Proceedings - IEEE International Conference on Robotics and Automation

Y2 - 14 September 2003 through 19 September 2003

ER -

The management of parallel-manipulator singularities using joint-coupling

Abstract

Access to Document

Other files and links

Fingerprint

Cite this