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Title:
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Straightening-free algorithm for the singularity analysis of Stewart-Gough platforms with collinear/coplanar attachments
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Author:
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Borràs Sol, Júlia; Thomas, Federico; Torras, Carme
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Other authors:
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Universitat Politècnica de Catalunya. Departament de Llenguatges i Sistemes Informàtics; Institut de Robòtica i Informàtica Industrial; Universitat Politècnica de Catalunya. Departament d'Enginyeria de Sistemes, Automàtica i Informàtica Industrial |
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Abstract:
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An algorithm to derive the pure condition of any double-planar Stewart-Gough platform in a standard form suitable for comparison is presented. By applying the multilinear properties of brackets directly to the superbracket encoding of the pure condition, no straightening is required. It is then shown that any 3-3 platform has a corresponding 6-6 platform having its same superbracket, meaning that they have identical singularity loci. In general, the superbracket of any doubleplanar platform can be written as a linear combination of the superbrackets of 3-3 platforms, leading to a direct singularity assessment by inspecting the resulting decomposition. |
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Abstract:
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Peer Reviewed |
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Subject(s):
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-Àrees temàtiques de la UPC::Informàtica::Robòtica
-Kinematics
-Robòtica
-Classificació INSPEC::Automation::Robots |
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Rights:
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Document type:
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Article - Submitted version
Conference Object |
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Published by:
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Springer Verlag
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