Workspace generation and planning singularity-free path for parallel manipulators
作者： Anjan Kumar Dash , I-Ming Chen , Song Huat Yeo , Guilin Yang , None
DOI: 10.1016/J.MECHMACHTHEORY.2005.01.001
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摘要: Abstract This paper presents a numerical technique for path planning inside the reachable workspace of parallel manipulators avoiding singularity. A generic algorithm generating is described. The singularity points are determined, grouped into several clusters and modelled as obstacles. used to find an optimal these Isolated singularities avoided using local routing method based on Grassmann’s line geometry. Examples demonstrated effectiveness algorithms.
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