Linear Adaptive Computed Torque Control for Singularity Crossing of Parallel Robots

Autor: Youcef Mezouar, Belhassan Chedli Bouzgarrou, Nicolas Bouton, Sébastien Briot, Adrien Koessler

Publikováno v: ROMANSY 22-Robot Design, Dynamics and Control
ROMANSY 22-Robot Design, Dynamics and Control, Jun 2018, Rennes, France. pp.222-229, ⟨10.1007/978-3-319-78963-7⟩
ROMANSY 22 – Robot Design, Dynamics and Control ISBN: 9783319789620

International audience; The operational workspace of parallel robots is often reduced by the presence of singularities. Recently, it has been proven that Type 2 singularities can be crossed in a way such that the dynamic model of the robot never dege

Externí odkaz: https://explore.openaire.eu/search/publication?articleId=doi_dedup___::df1295dcdeb2928f5ebe6d6a53e98b19
https://hal.science/hal-02099955/document