On the stability conditions for a class of parallel manipulators

M. M. Svinin, K. Ueda, M. Uchiyama

研究成果: ジャーナルへの寄稿学術誌査読

9 被引用数 (Scopus)


This paper deals with the stability of a class of planar parallel mechanisms, called unifunctional manipulators. For this problem the stiffness matrix of the mechanisms is derived, and its basic properties are analyzed. Necessary and sufficient conditions for the stability are established in an analytical form by transforming the stiffness matrix to the center of stiffness. Next, at the level of force planning, the problem of stable force distribution is formulated. It is shown that an unstable force distribution can be stabilized by a simple control law if the mechanism is not in a singular configuration. Finally, conditions of the feedback stabilizability in singular configurations are established and illustrated on simple examples.

ジャーナルProceedings-IEEE International Conference on Robotics and Automation
出版ステータス出版済み - 4月 2000

!!!All Science Journal Classification (ASJC) codes

  • ソフトウェア
  • 制御およびシステム工学
  • 人工知能
  • 電子工学および電気工学


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