The isoconditioning loci of a class of closed-chain manipulators

Proceedings - IEEE International Conference on Robotics and Automation

Volumn 3, Issue , 1998, Pages 1970-1975

  Chablat, Damien ^a   Wenger, Philippe ^a   Angeles, Jorge ^b  

^a ECOLE CENTRALE DE NANTES   (France)

^b MCGILL UNIVERSITY   (Canada)

Author keywords

Closed loop manipulator; Hybrid manipulator; Isoconditioning surfaces; Kinematics; Singularity; Working modes

Indexed keywords

CHAINS; DEGREES OF FREEDOM (MECHANICS); INVERSE KINEMATICS; INVERSE PROBLEMS; KINEMATICS; LOCKS (FASTENERS); MANIPULATORS; NUMBER THEORY; ROBOTICS; CLOSED LOOP CONTROL SYSTEMS; CONTROL SYSTEM ANALYSIS;

CARTESIAN VELOCITY; CLOSED LOOPS; HYBRID MANIPULATORS; KINEMATIC RELATIONS; SINGULARITY; SURFACES OF REVOLUTION; TWO-DEGREE OF FREEDOM; WORKING MODE;

JACOBIAN MATRICES; MANIPULATORS;

CLOSED CHAIN MANIPULATORS; HYBRID MANIPULATORS; ISOCONDITIONING LOCI; WORKING MODES;

EID: 0031626283     PISSN: 10504729     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/ROBOT.1998.680603     Document Type: Conference Paper

References (6)

1. Hunt, K. H. "Geometry of Mechanisms" Clarendon Press, Oxford, 1978.
2. Bajpai, A. and Roth, B. "Workspace and mobility of a closed-loop manipulator" The International Journal of Robotics Research, Vol. 5, No. 2, 1986.
3. Gosselin, C. "Stiffness mapping for parallel manipulators" IEEE Transactions On Robotics And Automation, Vol. 6, No. 3, June 1990.
4. Gosselin, C. and Angeles, J. "Singularity analysis of closed-loop kinematic chains" IEEE Transactions On Robotics And Automation, Vol. 6, No. 3, June 1990.
5. Chablat, D. and Wenger, Ph. "Working modes and aspects in fully parallel manipulators" to appear in Proc. IEEE International Conference of Robotic and Automation, Mai 1998.
6. Golub, G. H. and Van Loan, C. F. "Matrix Computations" The Johns Hopkins University Press, Baltimore, 1989.