Jun 18, 2022 · In this paper, an algorithm for Type II singularities avoidance in PRs is proposed that allows to i) create a new trajectory from an initial to a final ...

The results show how the initially unstable behavior when following an original singular trajectory can be fixed after modifying that trajectory with the ...

Trajectory Planner for Type II Singularities Avoidance Based on Output Twist Screws ... Type II singularities and assembly change points in a 3UPS+RPU ...

This research presents an algorithm that avoids Type II singularities by modifying the trajectory of a subset of the actuators.

Title : Trajectory Planner for Type II Singularities Avoidance Based on Output Twist Screws ; Contributors: Pulloquinga, José L. (author) / Escarabajal, Rafael J ...

Jan 17, 2024 · This research presents an algorithm that avoids Type II singularities by modifying the trajectory of a subset of the actuators.

Feb 10, 2023 · Trajectory planning computes PR motions satisfying robot dynamics and actuator constraints, minimising energy consumption or execution time ...

Co-authors ; Trajectory planner for type II singularities avoidance based on output twist screws. JL Pulloquinga, RJ Escarabajal, M Vallés, Á Valera, V Mata.

Dec 9, 2024 · An algorithm based on output twist screws was presented in [2] to address type II singularity in parallel mechanisms by modifying trajectories.

A Type II singularity avoidance algorithm for parallel manipulators using output twist screws. JL Pulloquinga, RJ Escarabajal, Á Valera, M Vallés, V Mata.