哈尔滨工业大学学报（英文版）2004，Vol.11Issue(5)：579-582,4.
Singularity-free path planning for parallel manipulator
Singularity-free path planning for parallel manipulator
摘要
Abstract
Given a start pose and a goal pose, a large number of singularity-free poses are created randomly in the 6 dimensional task space, a short line segment is used to create a feasible path between two singularity-free poses. A well connected roadmap can be obtained and stored in the 6 dimension task space for a specific 6 DOF parallel manipulator in this way and a singularity-free path is queried to connect the start pose and the goalpose. So the singularity-free path planning between any two given poses for this parallel manipulator can be per-formed very efficiently. This singularity-free path planning method can be used with any type of parallel manipu-lator only if the matrix used can be given to define singularities.关键词
parallel manipulator/singularity/path planning/roadmap/randomKey words
parallel manipulator/singularity/path planning/roadmap/random分类
信息技术与安全科学引用本文复制引用
陈峰,赵锡芳,费燕琼,殷跃红..Singularity-free path planning for parallel manipulator[J].哈尔滨工业大学学报（英文版）,2004,11(5):579-582,4.基金项目
Sponsored by the National Natural Science Foundation of China( Grant No. 60205006). （ Grant No. 60205006）
