工作区
奇点
引力奇点
路径(计算)
运动规划
并联机械手
计算机科学
数学优化
数学
任意角度路径规划
拓扑(电路)
算法
控制理论(社会学)
机器人
几何学
人工智能
数学分析
控制(管理)
组合数学
程序设计语言
作者
Anjan Kumar Dash,I‐Ming Chen,Song Huat Yeo,Guilin Yang
标识
DOI:10.1016/j.mechmachtheory.2005.01.001
摘要
This paper presents a numerical technique for path planning inside the reachable workspace of parallel manipulators avoiding singularity. A generic numerical algorithm for generating the reachable workspace of parallel manipulators is described. The singularity points are determined, grouped into several clusters and modelled as obstacles. A path planning algorithm is used to find an optimal path avoiding these obstacles. Isolated singularities are avoided using local routing method based on Grassmann’s line geometry. Examples are demonstrated for the effectiveness of the algorithms.
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