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Singularity analysis of the H4 robot using Grassmann–Cayley algebra
| Content Provider | Scilit |
|---|---|
| Author | Amine, Semaan Caro, Stéphane Wenger, Philippe Kanaan, Daniel |
| Copyright Year | 2012 |
| Description | SUMMARY: This paper extends a recently proposed singularity analysis method to lower-mobility parallel manipulators having an articulated nacelle. Using screw theory, a twist graph is introduced in order to simplify the constraint analysis of such manipulators. Then, a wrench graph is obtained in order to represent some points at infinity on the Plücker lines of the Jacobian matrix. Using Grassmann–Cayley algebra, the rank deficiency of the Jacobian matrix amounts to the vanishing condition of the superbracket. Accordingly, the parallel singularities are expressed in three different forms involving superbrackets, meet and join operators, and vector cross and dot products, respectively. The approach is explained through the singularity analysis of the H4 robot. All the parallel singularity conditions of this robot are enumerated and the motions associated with these singularities are characterized. |
| Related Links | https://hal.archives-ouvertes.fr/hal-00642230/file/Robotica_Final_111109.pdf https://www.cambridge.org/core/services/aop-cambridge-core/content/view/656EF6EEA87E8CFADDC90A93034517C0/S0263574711001330a.pdf/div-class-title-singularity-analysis-of-the-h4-robot-using-grassmann-cayley-algebra-div.pdf |
| Ending Page | 1118 |
| Page Count | 10 |
| Starting Page | 1109 |
| ISSN | 02635747 |
| e-ISSN | 14698668 |
| DOI | 10.1017/s0263574711001330 |
| Journal | Robotica |
| Issue Number | 7 |
| Volume Number | 30 |
| Language | English |
| Publisher | Cambridge University Press (CUP) |
| Publisher Date | 2012-12-01 |
| Access Restriction | Open |
| Subject Keyword | Robotica Grassmann–cayley Algebra Parallel Singularity Articulated Nacelle |
| Content Type | Text |
| Resource Type | Article |
| Subject | Control and Optimization Artificial Intelligence Rehabilitation Control and Systems Engineering Mechanical Engineering Computational Mechanics Modeling and Simulation Computer Science Applications Computer Vision and Pattern Recognition Software |
