2019/10/10 by Arvin Rasoulzadeh, Rasoulzadeh, Arvin, Georg Nawratil +1
Engineering · #Advanced Theoretical and Applied Studies in Material Sciences and Geometry #FOS: Computer and information sciences #FOS: Mathematics #Mechanical Engineering and Vibrations Research #Optimization and Control (math.OC) #Robotic Mechanisms and Dynamics #Robotics (cs.RO)
paper · pdf · doi:10.48550/arxiv.1910.04810
openalex publication_date 2019/10/10 · openalex created_date 2022/07/28 · openalex updated_date 2026/07/28
The class of linear pentapods with a simple singularity variety is obtained\nby imposing architectural restrictions on the design in such a way that the\nmanipulators singularity variety is linear in orientation position variables.\nIt turns out that such simplification leads to crucial computational advantages\nwhile maintaining the machines applications in some fundamental industrial\ntasks such as five axis milling and laser cutting. We assume that a path\nbetween a given start and end pose of the end effector is known which is\nsingularity free and within the manipulators workspace. An optimization process\nof the initial path is proposed in such a way that the parallel robot increases\nits distance to the singularity loci while the motion is being smoothed. In our\ncase the computation time of the optimization is improved as we are dealing\nwith pentapods having simple singularity varieties allowing a closed form\nsolution for the local exterma of the singularity distance function. Formally\nthis process is called variational path optimization which is the systematic\noptimization of a path by manipulating its variations of energy and distance to\nthe obstacle which in this case is the singularity variety. In this process\nsome physical limits of the mechanical joints are also taken into account.\n