Jacobian matrix factorization and singularity analysis of a parallel robot

摘要

In this paper, an approach for Jacobian matrix factorization for parallel robots, is presented. The parallel robot is considered as a multi robot system, with k serial robots (the parallel robot segments) moving a common load (the mobile platform). The proposed approach is based on an extension of global formalism developed by Fijany and applied for serial robots. The computational efficiency of the proposed methodology is shown on The C5 parallel robot in comparison with a classical approach. The Jacobian matrix factorization of the C5 parallel robot is used for the singularity study. This approach allows a determination of the singular configurations for all the positions (in translation and rotation) of the end effector.