Kinematic analysis and singular configurations of a class of parallel robots

Mathematics and Computers in Simulation

Volumn 41, Issue 3-4, 1996, Pages 377-390

  Khalil, W ^a   Murareci, D ^a  

^a ECOLE CENTRALE DE NANTES   (France)

Author keywords

[No Author keywords available]

Indexed keywords

DEGREES OF FREEDOM (MECHANICS); END EFFECTORS; KINEMATICS; MATHEMATICAL MODELS; SURFACES;

COINCIDENT POINTS; CONFIGURATIONS; FORWARD KINEMATIC MODEL; INVERSE KINEMATIC MODEL; PARALLEL CHAINS; PARALLEL ROBOTS;

ROBOTS;

EID: 0030188796     PISSN: 03784754     EISSN: None     Source Type: Journal    
DOI: 10.1016/0378-4754(95)00086-0     Document Type: Article

References (5)

1. C. Zhang and S.-M. Song, Forward kinematics of a class of parallel (Stewart) platform with closed-loop solutions, IEEE Int. Conf. on Robotics and Automation, Sacramento, California (1991) 2676-2681.
2. J.P. Merlet, Les Robots Parallèles (Hermés, Paris, 1990).
3. S. Wolfram, Mathematica, A System for Doing Mathematics by Computer, 2nd Edition (Addison-Wesley, Reading, MA, 1991).
4. P. Borrel, A study of multiple manipulator inverse kinematic solutions with applications to trajectory planning and workspaces determination, IEEE Conf. on Robotics and Automation (1986) 1181-1185.
5. Ph. Wenger, A new general formalism for the kinematic analysis of all nonredundant manipulators, IEEE Conf. on Robotics and Automation (1992) 442-447.