Abstract
Singularity is a major problem for parallel robots as in these configurations the robot cannot be controlled. There may be very large forces/torques in its joints, possibly leading to its breakdown. This issue is clearly a very practical problem and we present in this paper an algorithm which computes the static workspace of a planar parallel robot for a given orientation i.e. the set of location of the platform at which the absolute value of all joint forces are smaller or equal to a given threshold
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Hubert, J., Merlet, J.P. (2008). Singularity Analysis through Static Analysis. In: Lenarčič, J., Wenger, P. (eds) Advances in Robot Kinematics: Analysis and Design. Springer, Dordrecht. https://doi.org/10.1007/978-1-4020-8600-7_2
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DOI: https://doi.org/10.1007/978-1-4020-8600-7_2
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