Speed and force criteria for the proximity to singularities of parallel structure manipulators
Author:
Publisher
Allerton Press
Subject
Industrial and Manufacturing Engineering,Mechanical Engineering,Safety, Risk, Reliability and Quality
Link
http://link.springer.com/content/pdf/10.3103/S1052618812030041.pdf
Reference9 articles.
1. Gosselin, C.M. and Angeles, J., Singularity Analysis of Closed-Loop Kinematic Chains, IEEE Trans. Robot. Automat., 1990, vol. 6, no. 3, pp. 281–290.
2. Merlet, J.-P., Singular Configurations of Parallel Manipulators and Grassmann Geometry, Int. J. Robot. Res., 1989, vol. 8, no. 5, pp. 45–56.
3. Gosselin, C.M. and Angeles, J., A Global Performance Index for the Kinematic Optimization of Robotic Manipulators, J. Mech. Design, 1991, vol. 113, no. 3, pp. 220–226.
4. Merlet, J.-P., Jacobian Manipulability, Conditionnumber, and Accuracy of Parallel Robots, J. Mech. Design, 2006, vol. 128, pp. 199–205.
5. Arakelian, V., Briotet, S., and Glazunov, V., Increase of Singularity-Free Zones in the Workspace of Parallel Manipulators Using Mechanisms of Variable Structure, Mechan. Mach. Theory, 2008, vol. 43, no. 9, pp. 1129–1140.
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