Inverse dynamics of parallel manipulators in the presence of drive singularities

Ider S.

MECHANISM AND MACHINE THEORY, vol.40, no.1, pp.33-44, 2005 (SCI-Expanded) identifier identifier

  • Publication Type: Article / Article
  • Volume: 40 Issue: 1
  • Publication Date: 2005
  • Doi Number: 10.1016/j.mechmachtheory.2004.05.007
  • Journal Indexes: Science Citation Index Expanded (SCI-EXPANDED), Scopus
  • Page Numbers: pp.33-44
  • Keywords: parallel manipulator, inverse dynamics, singularity, drive singularity, desingularization
  • Middle East Technical University Affiliated: No


At drive singularities of parallel manipulators the actuators lose control of the end-effector in certain directions. It is shown that if certain conditions related to the consistency of the dynamic equations are satisfied by a proper design of the trajectory, the manipulator can pass through the singular positions while the actuator forces and the system motion remain stable. To find the values of the actuator forces in the neighborhood of the drive singularities, the dynamic equations are modified by using higher order derivative information. (C) 2004 Elsevier Ltd. All rights reserved.