Analysis of Jacobian and singularity of planar parallel robots using screw theory
- Analysis of Jacobian and singularity of planar parallel robots using screw theory
- 이혁진; 최정현; 이재원
- Jacobians; Parallel; Redundant; Screw theory; Singularity; Geometry; Jacobian matrices; Kinematics; Robots; Screws
- Issue Date
- Transactions of the Korean Society of Mechanical Engineers, A, v.36, no.11, pp.1353 - 1360
- The Jacobian and singularity analysis of parallel robots is necessary to analyze robot motion. The derivations of the Jacobian matrix and singularity configuration are complicated and have no geometrical earning in the velocity form of the Jacobian matrix. In this study, the screw theory is used to derive the Jacobian of parallel robots. The statics form of the Jacobian has a geometrical meaning. In addition, singularity analysis can be performed by using the geometrical values. Furthermore, this study shows that the screw theory is applicable to redundantly actuated robots as well as non-redundant robots. ? 2012 The Korean Society of Mechanical Engineers.
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