2015/05/20 by R. Jha, Ranjan Jha, Damien Chablat +6
Computer Science · Engineering · #Dynamics and Control of Mechanical Systems #FOS: Computer and information sciences #Modular Robots and Swarm Intelligence #Robotic Mechanisms and Dynamics #Robotics (cs.RO) #cs.RO
paper · pdf · doi:10.48550/arxiv.1505.05388
4th IFTOMM International Symposium on Robotics and Mechatronics, Jun 2015, Poitiers, France. 2015
arxiv created 2015/05/20 · openalex publication_date 2015/05/20 · arxiv updated 2015/05/21 · openalex created_date 2025/10/10 · openalex updated_date 2026/07/28
Workspace and joint space analysis are essential steps in describing the task and designing the control loop of the robot, respectively. This paper presents the descriptive analysis of a family of delta-like parallel robots by using algebraic tools to induce an estimation about the complexity in representing the singularities in the workspace and the joint space. A Gröbner based elimination is used to compute the singularities of the manipulator and a Cylindrical Algebraic Decomposition algorithm is used to study the workspace and the joint space. From these algebraic objects, we propose some certified three dimensional plotting describing the the shape of workspace and of the joint space which will help the engineers or researchers to decide the most suited configuration of the manipulator they should use for a given task. Also, the different parameters associated with the complexity of the serial and parallel singularities are tabulated, which further enhance the selection of the different configuration of the manipulator by comparing the complexity of the singularity equations.