INVERSE KINEMATICS AND SINGULARITY ANALYSIS OF A KINEMATICALLY REDUNDANT PARALLEL ROBOT

Abstract

This work presents the inverse kinematics and singularity conditions of a kinematically redundant planar parallel robot (3-RRRR) with six degrees of freedom. Due to the existence of infinitely many solutions in the inverse kinematics problem and singular configurations within the workspace, an analytical method based on singularity conditions is proposed to address these challenges. As a result, the inverse kinematic solutions are derived in an analytical form, enabling real-time control. Furthermore, the approach allows the robot to avoid singular configurations and expand its usable workspace. Numerical simulations are conducted to demonstrate the effectiveness of the proposed method.