• Corpus ID: 16295662

Trajectory-tracking control of a planar 3-RRR parallel manipulator with singularity avoidance

  title={Trajectory-tracking control of a planar 3-RRR parallel manipulator with singularity avoidance},
  author={Chaman Nasa and Sandipan Bandyopadhyay},
Avoiding singularities while tracking a com- manded trajectory is an inherent challenge in any parallel manipulator. Off-line path planning and trajectory gener- ation can be used where the singularity manifold is rela- tively well-known, and/or amenable to mathematical anal- ysis. However, for manipulators such as the planar3-RRR, the singularity curve is of degree 42 for a given orientation of the moving platform, and therefore not very easy to either analyse or avoid during path planning. In… 

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