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Integrated Force/Motion Trajectory Design of Parallel Robots for Singularity Robustness during Contact Tasks

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dc.contributor.author Özdemir, Mustafa
dc.contributor.author İder, Sıtkı Kemal
dc.date.accessioned 2023-12-29T13:45:16Z
dc.date.available 2023-12-29T13:45:16Z
dc.date.issued 2023
dc.identifier.citation Özdemir, M.; İder, S.K. (2023). "Integrated Force/Motion Trajectory Design of Parallel Robots for Singularity Robustness during Contact Tasks", Acta Polytechnica Hungarica, Vol.20, No.2, pp.41-61. tr_TR
dc.identifier.issn 17858860
dc.identifier.uri http://hdl.handle.net/20.500.12416/6830
dc.description.abstract Parallel robots have an increasing use in industrial and medical applications. Many of these applications require the execution of contact tasks. However, parallel robots possess drive singularities, which act as invisible barriers inside their workspace. In this paper, we develop an integrated force and motion trajectory planning method for removing drive singularities of parallel robots which perform contact tasks. The method is based on satisfaction of a consistency condition at the singularity, which is stated in terms of the generalized velocities, accelerations and contact forces, provided that the derivative of the associated determinant with respect to time does not simultaneously vanish. It is shown that, in the presence of singularity crossing, either the motion or the force trajectory can be arbitrarily chosen while the other is planned to satisfy the necessary conditions. tr_TR
dc.language.iso eng tr_TR
dc.relation.isversionof 10.12700/APH.20.2.2023.2.3 tr_TR
dc.rights info:eu-repo/semantics/openAccess tr_TR
dc.subject Contact Task tr_TR
dc.subject Drive Singularity tr_TR
dc.subject Force Trajectory tr_TR
dc.subject Motion Trajectory tr_TR
dc.subject Parallel Robot tr_TR
dc.subject Singularity Removal tr_TR
dc.title Integrated Force/Motion Trajectory Design of Parallel Robots for Singularity Robustness during Contact Tasks tr_TR
dc.type article tr_TR
dc.relation.journal Acta Polytechnica Hungarica tr_TR
dc.contributor.authorID 108608 tr_TR
dc.identifier.volume 20 tr_TR
dc.identifier.issue 2 tr_TR
dc.identifier.startpage 41 tr_TR
dc.identifier.endpage 61 tr_TR
dc.contributor.department Çankaya Üniversitesi, Mühendislik Fakültesi, Makine Mühendisliği Bölümü tr_TR


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