Abstract: Analyzing
the actuator singularity of overactuated parallel robot by differential
geometric approach is completed. The cause of the actuator singularity
is analyzed by the Riemannian metric projection relation on the
configuration manifold and the ambient one. The approach of a framework
of tangent space for configuration manifold replacing Jacobian matrix to
analyze the actuator singularity is presented further according to the
definition of embedding mapping. The concise equivalent form for
analyzing actuator singularity is described by some properties related
with matrix rank. Comparing with the implicit function theorem, the
method could avoid the matrix multiplication manipulation and the
repeating calculation for inverse matrix, thereby reducing the
complexity of computing. Finally, the example of a planar 2-DOF
overactuated parallel robot is given, and it shows that the above
principle is feasible and effective.
Key words: Overactuated
parallel robot Actuator singularity Embedding Riemannian metric Solution
vector
CLC No: TP242
国家自然科学基金资助项目(50375007). Received 20050617,
received in revised form 20051015
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