Moveability and Collision Analysis for Fully-Parallel Manipulators

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dc.creatorChablat, Damien
dc.creatorWenger, Philippe
dc.date2007-07-13
dc.date.accessioned2026-07-07T08:17:34Z
dc.date.available2026-07-07T08:17:34Z
dc.descriptionThe aim of this paper is to characterize the moveability of fully-parallel manipulators in the presence of obstacles. Fully parallel manipulators are used in applications where accuracy, stiffness or high speeds and accelerations are required \cite{Merlet:97}. However, one of its main drawbacks is a relatively small workspace compared to the one of serial manipulators. This is due mainly to the existence of potential internal collisions, and the existence of singularities. In this paper, the notion of free aspect is defined which permits to exhibit domains of the workspace and the joint space free of singularity and collision. The main application of this study is the moveability analysis in the workspace of the manipulator as well as path-planning, control and design.
dc.identifierhttps://arxiv.org/abs/0707.1957
dc.identifierhttp://arxiv.org/abs/0707.1957
dc.identifier12th CISM-IFTOMM Symposium (07/1998) 1-8
dc.identifier.urihttp://salesiana.dossiersoluciones.com/handle/123456789/134133
dc.subjectRobotics
dc.titleMoveability and Collision Analysis for Fully-Parallel Manipulators
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