Singularity-consistent path planning and motion control through instantaneous self-motion singularities of parallel-link manipulators

Journal of Robotic Systems

Volumn 14, Issue 1, 1997, Pages 27-36

  Nenchev, Dragomir N ^a   Uchiyama, Masaru ^a  

^a TOHOKU UNIVERSITY   (Japan)

Author keywords

[No Author keywords available]

Indexed keywords

ASYMPTOTIC STABILITY; CLOSED LOOP CONTROL SYSTEMS; COMPUTER SIMULATION; MOTION CONTROL; MOTION PLANNING; POSITION CONTROL; TRACKING (POSITION);

INSTANTANEOUS SELF MOTION SINGULARITIES; PARALLEL LINK MANIPULATORS; PARALLEL ROBOT HEXA; PATH TRACKING; PLANAR FIVE BAR MECHANISM; VELOCITY COMMAND GENERATORS;

MANIPULATORS;

EID: 0030737341     PISSN: 07412223     EISSN: None     Source Type: Journal    
DOI: 10.1002/(SICI)1097-4563(199701)14:1<27::AID-ROB3>3.0.CO;2-W     Document Type: Article

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