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The singularity analysis of an in-parallel hand controller for force-reflected teleoperation

机译:力反射遥操作并联手控制器的奇异性分析

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Force-reflected teleoperation with in-parallel devices are gaining prominence in robotics applications. Although their development has been limited primarily to Stewart-platform type devices, many other in-parallel hand controllers hold promise for force-reflected manipulation. One factor prohibiting a full exploration involves their singularity analyses-use of conventional rank determining methods are overly complicated. Singularity analysis complications arise because the Jacobian matrix has several functionally dependent variables. In this analysis, we first derive the Jacobian matrix and then show its six columns can be viewed as zero-pitch wrenches (lines) acting on the top platform. We then show how line geometry and rank determining geometric constructions can be used to obtain all configuration singularities.
机译:并行设备中的力反射式遥操作在机器人应用中越来越受关注。尽管它们的开发主要限于Stewart平台类型的设备,但许多其他并行手控制器也有望实现力反射操作。禁止进行全面探索的一个因素涉及其奇异性分析-传统等级确定方法的使用过于复杂。由于雅可比矩阵具有几个功能相关的变量,因此出现了奇点分析复杂性。在此分析中,我们首先导出雅可比矩阵,然后显示其六列可以看作是作用在顶部平台上的零螺距扳手(直线)。然后,我们展示如何使用线几何和确定等级的几何构造来获取所有配置奇点。

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