Sirichotiyakul, Wankun and Patoğlu, Volkan and Satici, Aykut C. (2020) Efficient singularity-free workspace approximations using sum-of-squares programming. Journal of Mechanisms and Robotics, 12 (6). ISSN 1942-4302 (Print) 1942-4310 (Online)
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Official URL: https://dx.doi.org/10.1115/1.4046997
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: | 04 Aug 2023 11:51 |
| Last Modified: | 04 Aug 2023 11:51 |
| URI: | https://research.sabanciuniv.edu/id/eprint/46890 |
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Efficient singularity-free workspace approximations using sum-of-squares programming. (deposited 26 Sep 2020 23:45)
- Efficient singularity-free workspace approximations using sum-of-squares programming. (deposited 04 Aug 2023 11:51) [Currently Displayed]
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