This article discusses the implementation of a software joint velocity limitation dedicated to a Spherical Parallel Manipulator (SPM) with coaxial input shafts (CoSPM) using a speed control loop. Such an algorithm takes as input the current joint positions as well as the joint reference velocities computed by the speed controller and limit the latter in order to avoid any known singular configuration. This limitation takes into account the workspace properties of the mechanism and the physical characteristics of its actuators. In particular, one takes advantage of the coaxiality of the input shafts of the CoSPM and the resulting unlimited bearing.

翻译：本文探讨了通过速度控制回路实现同轴输入轴球面并联机构（CoSPM）专用软件关节速度限制的方法。该算法以当前关节位置及速度控制器计算的关节参考速度为输入，通过限制后者以避免任何已知奇异构型。该限制机制综合考虑了机构工作空间特性及其执行器的物理特性，尤其利用了CoSPM输入轴的同轴性及其产生的无限旋转能力。