Efficient singularity-free workspace approximations using sum-of-squares programming

Sirichotiyakul, Wankun and Patoğlu, Volkan and Satıcı, Aykut Cihan (2020) Efficient singularity-free workspace approximations using sum-of-squares programming. Journal of Mechanisms and Robotics . ISSN 1942-4302 (Print) 1942-4310 (Online) Published Online First http://dx.doi.org/10.1115/1.4046997

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Abstract

In this paper, we provide 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. This framework utilizes the sum-of-squares optimization technique, which is numerically implemented by semidefinite programming. In order to apply the sum-of-squares optimization technique, we convert the trigonometric functions in the kinematics of the manipulator to polynomial functions with an additional constraint. We define two quadratic forms, describing two ellipsoids, whose volumes are optimized to yield inner and outer approximations of the singularity-free workspace.
Item Type: Article
Uncontrolled Keywords: mechanism design, mechanism synthesis, parallel platforms, robot design, theoretical kinematics
Divisions: Faculty of Engineering and Natural Sciences > Academic programs > Mechatronics
Faculty of Engineering and Natural Sciences
Depositing User: Volkan Patoğlu
Date Deposited: 26 Sep 2020 23:45
Last Modified: 26 Sep 2020 23:45
URI: https://research.sabanciuniv.edu/id/eprint/40872

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