Detection and Avoidance of Singularities in Parallel Kinematic Machines

A Determinant Analysis to Detect the Singularity of the Extended Theo Jansen Mechanism in the Phase-Rotation-Amplitude Parameter Space

“…Singularity analyses have been investigated in the parallel linkage system especially for planer linkages and manipulators [44][45][46][47][48][49][50]. A geometrically and physically based method for the detection of singularities was proposed [48], which provided information representing the distance of a given position to singularities.…”

“…Singularity analyses have been investigated in the parallel linkage system especially for planer linkages and manipulators [44][45][46][47][48][49][50]. A geometrically and physically based method for the detection of singularities was proposed [48], which provided information representing the distance of a given position to singularities. In the planer robot with multi legs, the singularity detection associated with a robot controller is useful for a path planning algorithm avoiding singularities during the locomotion.…”

“…In the planer robot with multi legs, the singularity detection associated with a robot controller is useful for a path planning algorithm avoiding singularities during the locomotion. In order to find an appropriate path, the workspace can be defined as a virtual potential field [48,49] and such a method can be applied to the real-time control.…”