Singularity-free load distribution algorithms for a 6 DOF parallel haptic device
Identifieur interne : 006B29 ( Main/Exploration ); précédent : 006B28; suivant : 006B30Singularity-free load distribution algorithms for a 6 DOF parallel haptic device
Auteurs : HYUNG WOOK KIM [Corée du Sud] ; JAE HOON LEE [Corée du Sud] ; Byung-Ju Yi [Corée du Sud] ; IL HONG SUH [Corée du Sud]Source :
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Abstract
It is known that parallel type mechanisms have many singularities than serial type mechanisms. In haptic application, these singularities deteriorate the force reflecting performance. Moreover, different from general manipulators, haptic systems can't avoid the singular point, because they are operated by the user's random motion command. Although many singularity-free load distribution algorithms for kinematically redundant manipulators have been proposed, singularity-free load distribution algorithms for parallel haptic application have not been deeply discussed. In this paper, various singularity-free load distribution algorithms that are appropriate to parallel haptic system will be discussed. A new 6 DOF parallel mechanism equipped with four sub-chains is employed as a test device. To cope with singularity problem, four task-priority algorithms and redundant actuation algorithm are discussed and compared through simulation, and also experiments have been performed to show the effectiveness of those algorithms at the presence of singularity.
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<term>Redundancy</term>
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<term>Mécanisme parallèle</term>
<term>Manipulateur</term>
<term>Mouvement aléatoire</term>
<term>Redondance</term>
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<front><div type="abstract" xml:lang="en">It is known that parallel type mechanisms have many singularities than serial type mechanisms. In haptic application, these singularities deteriorate the force reflecting performance. Moreover, different from general manipulators, haptic systems can't avoid the singular point, because they are operated by the user's random motion command. Although many singularity-free load distribution algorithms for kinematically redundant manipulators have been proposed, singularity-free load distribution algorithms for parallel haptic application have not been deeply discussed. In this paper, various singularity-free load distribution algorithms that are appropriate to parallel haptic system will be discussed. A new 6 DOF parallel mechanism equipped with four sub-chains is employed as a test device. To cope with singularity problem, four task-priority algorithms and redundant actuation algorithm are discussed and compared through simulation, and also experiments have been performed to show the effectiveness of those algorithms at the presence of singularity.</div>
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