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Article Dans Une Revue IEEE Transactions on Robotics Année : 2020

Dynamics-based Algorithm for Reliable Assembly Mode Tracking in Parallel Robots

Résumé

Finding the current pose of the end-effector of a parallel robot is a problem, since its forward geometric model generally has several solutions. Current methods to address this problem operate mainly under the assumption that the robot never changes its assembly mode nor gets close to Type 2 singularities. Nonetheless, recent works proved that a parallel robot can change its assembly mode thanks to dedicated trajectory generation and control. Such a feature allows increasing the operational workspace of such manipulators. Hence tracking correctly the end-effector pose while crossing Type 2 singularities, is mandatory for a practical usage of this workspace enhancement method. However, on Type 2 singularities several solutions of the forward geometric model merge, making current tracking methods ineffective. To fill this gap, we propose a two-step pose-tracking methodology: First, a differential inclusion based on kinematics and dynamics is solved. Second, joint measurements are used to tighten resulting enclosures. The effectiveness of this method is discussed thanks to experimental data gathered on a planar parallel robot.
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Dates et versions

hal-02539443 , version 1 (08-06-2020)

Identifiants

Citer

Adrien Koessler, Alexandre Goldsztejn, Sébastien Briot, Nicolas Bouton. Dynamics-based Algorithm for Reliable Assembly Mode Tracking in Parallel Robots. IEEE Transactions on Robotics, 2020, 36 (3), pp.937-950. ⟨10.1109/TRO.2020.2987855⟩. ⟨hal-02539443⟩
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