{"title":"Singularity representation and workspace determination of the parrallel robot PAR4","authors":"A. Saidi, Neila Mezghani Ben Romdhane","doi":"10.1109/STA50679.2020.9329346","DOIUrl":null,"url":null,"abstract":"In this paper, the Singularity representation and workspace determination of the parrallel robot PAR4 are presented. The serial singularity (type 1) is determined using the kinematic matrix. This type of singularity indicates the unreachable points in the workspace. Based on the inverse geomatric model (MGI) of the parallel robot PAR4 the workspace is determined. Numerical results are presented showing some singularity of type 1 and their representation of the robot PAR4. Also, the workspace of this robot is presented.","PeriodicalId":158545,"journal":{"name":"2020 20th International Conference on Sciences and Techniques of Automatic Control and Computer Engineering (STA)","volume":"19 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2020-12-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"2020 20th International Conference on Sciences and Techniques of Automatic Control and Computer Engineering (STA)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/STA50679.2020.9329346","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
引用次数: 0
Abstract
In this paper, the Singularity representation and workspace determination of the parrallel robot PAR4 are presented. The serial singularity (type 1) is determined using the kinematic matrix. This type of singularity indicates the unreachable points in the workspace. Based on the inverse geomatric model (MGI) of the parallel robot PAR4 the workspace is determined. Numerical results are presented showing some singularity of type 1 and their representation of the robot PAR4. Also, the workspace of this robot is presented.
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