The paper presents the singularity analysis of a spherical robot with parallel architecture. This robot has been designed for the upper limb rehabilitation. Thus, singularity analysis is carried out for validating the robotic structure to the motion needs of the rehabilitation exercises. Singularities are derived from the forward kinematics using the Study parameters of SE(3) and the near singularity poses are evaluated in order to determine the motion capabilities in the whole robot workspace. A simulated motion is presented near the robot singular configuration. © Springer Nature Switzerland AG 2019.

Singularity analysis of a spherical robot used in upper limb rehabilitation

Carbone Giuseppe;
2019

Abstract

The paper presents the singularity analysis of a spherical robot with parallel architecture. This robot has been designed for the upper limb rehabilitation. Thus, singularity analysis is carried out for validating the robotic structure to the motion needs of the rehabilitation exercises. Singularities are derived from the forward kinematics using the Study parameters of SE(3) and the near singularity poses are evaluated in order to determine the motion capabilities in the whole robot workspace. A simulated motion is presented near the robot singular configuration. © Springer Nature Switzerland AG 2019.
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Utilizza questo identificativo per citare o creare un link a questo documento: http://hdl.handle.net/20.500.11770/302360
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