Optimal Reconfiguration of a Limited Parallel Robot for Forward Singularities Avoidance

Optimal Reconfiguration of a Limited Parallel Robot for Forward Singularities Avoidance

The positioning of the anchoring points of a Parallel Kinematic Manipulator has an important impact on its later performance. This paper presents an optimization problem to deal with the reconfiguration of a Parallel Kinematic manipulator with four degrees of freedom and the corresponding algorithms...

Full description

Bibliographic Details
Main Authors: Carlos Llopis-Albert, Francisco Valero, Vicente Mata, Rafael J. Escarabajal, Pau Zamora-Ortiz, José L. Pulloquinga
Format: Article
Language:English
Published: Universitat Politècnica de València 2020-04-01
Series:Multidisciplinary Journal for Education, Social and Technological Sciences
Subjects:
parallel robot
non-linear optimization
rehabilitation
trajectory
singularity
Online Access:https://polipapers.upv.es/index.php/MUSE/article/view/13352

Internet

https://polipapers.upv.es/index.php/MUSE/article/view/13352

Similar Items