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International Conference on Intelligent Robotics and Applications

ICIRA 2013: Intelligent Robotics and Applications pp 41–53Cite as

A New Euclidian Distance Based Approach to Measure Closeness to Singularity for Parallel Manipulators

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Part of the book series: Lecture Notes in Computer Science ((LNAI,volume 8103))

Abstract

Singularity configurations are particular poses of end-effector, for which parallel manipulators lose inherent infinite rigidity and in which the end-effector lose control. Finding how close the manipulator is to a singularity is one of the most important issues of parallel manipulators, as well as explaining its physical meaning. Based on forward kinematic analysis and mathematical definition, this paper presents a new approach based on linear distance to measure closeness to singularity for parallel manipulators. By comparing with several singularity indices, the advantages and disadvantages of different indices can be easily identified, and the best index for different situations of various types of parallel manipulators can be derived.

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Author information

Authors and Affiliations

  1. Laboratory of Mechanical System and Vibration, School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai, 200240, China

    Jianyu Mao, Yalei Guo, Jie Ren & Weizhong Guo

Authors
  1. Jianyu Mao
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  2. Yalei Guo
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  3. Jie Ren
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  4. Weizhong Guo
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Editor information

Editors and Affiliations

  1. Department of Electrical Engineering, Pusan National University, South Korea

    Jangmyung Lee

  2. School of Mechanical Engineering, Pusan National University, Busan, South Korea

    Min Cheol Lee

  3. Intelligent Systems & Biomedical Robotics Group, School of Creative Technologies, University of Portsmouth, PO1 2DJ, England, UK

    Honghai Liu

  4. School of Mechanical Engineering, Biorobotics Laboratory, Korea University of Technology and Education, Gajeon-ri Byeongcheon-myeon 307, 330-708, Cheonan, Korea

    Jee-Hwan Ryu

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© 2013 Springer-Verlag Berlin Heidelberg

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Mao, J., Guo, Y., Ren, J., Guo, W. (2013). A New Euclidian Distance Based Approach to Measure Closeness to Singularity for Parallel Manipulators. In: Lee, J., Lee, M.C., Liu, H., Ryu, JH. (eds) Intelligent Robotics and Applications. ICIRA 2013. Lecture Notes in Computer Science(), vol 8103. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-40849-6_4

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  • DOI: https://doi.org/10.1007/978-3-642-40849-6_4

  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-642-40848-9

  • Online ISBN: 978-3-642-40849-6

  • eBook Packages: Computer ScienceComputer Science (R0)

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