# A Branch and Prune Algorithm for the Computation of Generalized Aspects of Parallel Robots

@inproceedings{Caro2012ABA, title={A Branch and Prune Algorithm for the Computation of Generalized Aspects of Parallel Robots}, author={St{\'e}phane Caro and Damien Chablat and Alexandre Goldsztejn and Daisuke Ishii and Christophe Jermann}, booktitle={CP}, year={2012} }

Parallel robots enjoy enhanced mechanical characteristics that have to be contrasted with a more complicated design. In particular, they often have parallel singularities at some poses, and the robot may become uncontrollable, and could even be damaged, in such configurations. The computation of singularity free sets of reachable poses, called generalized aspects, is therefore a key issue in their design. A new methodology based on numerical constraint programming is proposed to compute a…

## 24 Citations

### Dynamics-Based Algorithm for Reliable Assembly Mode Tracking in Parallel Robots

- Materials ScienceIEEE Transactions on Robotics
- 2020

This work proposes a two-step pose tracking methodology, in which a differential inclusion based on kinematics and dynamics is solved and joint measurements are used to tighten resulting enclosures.

### A three-step methodology for dimensional tolerance synthesis of parallel manipulators

- Computer Science
- 2016

### An efficient combined local and global search strategy for optimization of parallel kinematic mechanisms with joint limits and collision constraints

- EngineeringMechanism and Machine Theory
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### Certified detection of parallel robot assembly mode under Type 2 singularity crossing trajectories

- Materials Science2017 IEEE International Conference on Robotics and Automation (ICRA)
- 2017

This work proposes an algorithm based on Interval Analysis (IA) that is able to track the end-effector of the robot even under assembly mode change, and is capable to monitor theassembly mode change of the robots happening when the singularities are crossed.

### R-Min: a Fast Collaborative Underactuated Parallel Robot for Pick-and-Place Operations

- Engineering2020 IEEE International Conference on Robotics and Automation (ICRA)
- 2020

Simulation results of impact during a standard pick-and-place trajectory of duration 0.3 s show that a regular five-bar mechanism would injure a human, while the R-Min robot would avoid the trauma.

### Performance analysis and design of parallel kinematic machines using interval analysis

- Materials Science
- 2017

### Collision-free workspace of parallel mechanisms based on an interval analysis approach

- EngineeringRobotica
- 2016

An interval-based approach in order to obtain the obstacle-free workspace of parallel mechanisms containing one prismatic actuated joint per limb, which connects the base to the end-effector, is proposed.

### A method based on the vanishing of self-motion manifolds to determine the collision-free workspace of redundant robots

- Materials ScienceMechanism and Machine Theory
- 2018

### Collision-Free Workspace of 3-RPR Planar Parallel Mechanism via Interval Analysis

- Materials Science
- 2014

In this chapter a circle shaped obstacle is considered and its mechanical interference with limbs and edges of the end-effector is taken into account and the results are represented and ongoing works are mentioned.

### Efficient Singularity-Free Workspace Approximations Using Sum-of-Squares Programming

- Mathematics, Computer Science
- 2020

A general framework to determine inner and outer approximations to the singularity-free workspace of fully actuated robotic manipulators, subject to Type-I and Type-II singularities, utilizing the sum-of-squares optimization technique.

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