Manipulateurs parallèles, singularités et analyse statique

Julien Hubert 1
1 COPRIN - Constraints solving, optimization and robust interval analysis
CRISAM - Inria Sophia Antipolis - Méditerranée , École des Ponts ParisTech (ENPC)
Abstract : Singularity is a major problem for parallel robots as in these configurations the robot cannot be controlled, and there may be infinite forces/torques in its joint, possibly leading to a robot breakdown. In the recent years classifcations and detection of singularities have made a large progress. However, the issue of closeness to singularity is still open and we propose in this thesis an approach that is based on a static analysis. Our measure of closeness to singularity is based on the very practical issue of having the joint forces/torques lower than a given threshold. We first consider a planar robot whose end-effector has a constant orientation and is submitted to a know wrench and we show that it is possible to compute the border of the region that describes all possible end-effector location for which the joint forces are lower that the fixed threshold. As computing this region appears difficult for non-planar mechanism with our first algorithm, we propose a second algorithm that allows one to compute it by using interval analysis.
Document type :
Theses
Robotics [cs.RO]. École Nationale Supérieure des Mines de Paris, 2010. French


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Submitted on : Monday, February 7, 2011 - 4:58:48 PM
Last modification on : Wednesday, April 15, 2015 - 4:09:22 PM

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Julien Hubert. Manipulateurs parallèles, singularités et analyse statique. Robotics [cs.RO]. École Nationale Supérieure des Mines de Paris, 2010. French. <pastel-00563998>

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