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Singularity-Free Reconfiguration of the 5-DOF Gantry-Tau Parallel Kinematic Machine
| Content Provider | Semantic Scholar |
|---|---|
| Author | Murray, Matthew P. |
| Copyright Year | 2008 |
| Abstract | This paper presents a systematic approach based on Mixed Integer Linear Programming for finding a near optimal singularity-free reconfiguration path of the 5-DOF Gantry-Tau parallel kinematic machine. The results in the paper demonstrate that singularity-free reconfiguration (change of assembly mode) of the machine is possible, which significantly increases the usable workspace. The method has been applied to a full-scale prototype and the singularity-free path has been verified both in simulations and with physical experiments using real-time control of the prototype. |
| File Format | PDF HTM / HTML |
| Alternate Webpage(s) | http://home.uia.no/geirh/PDF/C41.pdf |
| Language | English |
| Access Restriction | Open |
| Content Type | Text |
| Resource Type | Article |
