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Singularity-free path planning for the Stewart platform manipulator

Dasgupta, Bhaskar and Mruthyunjaya, TS (1998) Singularity-free path planning for the Stewart platform manipulator. In: Mechanism and Machine Theory, 33 (06). pp. 711-725.

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This paper addresses the problem of singularity-free path planning for the six-degree-of-freedom parallel manipulator known as the Stewart platform manipulator. Unlike serial manipulators, the Stewart platform possesses singular configurations within the workspace where the manipulator is uncontrollable. An algorithm has been developed to construct continuous paths within the workspace of the manipulator by avoiding singularities and ill-conditioning. Given two end-poses of the manipulator, the algorithm finds out safe (well-conditioned) via points and plans a continuous path from the initial pose to the final one. When the two end-poses belong to different branches and no singularity-free path is possible, the algorithm indicates the impossibility of a valid path. A numerical example has also been presented as illustration of the path planning strategy.

Item Type: Journal Article
Publication: Mechanism and Machine Theory
Publisher: Elsevier Science
Additional Information: Copyright of this article belongs to Elsevier Science.
Department/Centre: Division of Mechanical Sciences > Mechanical Engineering
Date Deposited: 22 Dec 2009 11:04
Last Modified: 19 Sep 2010 05:27
URI: http://eprints.iisc.ac.in/id/eprint/19236

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