Singularity-free evolution from one configuration to another in serial and fully-parallel manipulators

Journal of Mechanical Design, Transactions of the ASME

Volumn 120, Issue 1, 1998, Pages 73-79

  Innocenti, C ^a   Parenti Castelli, V ^a,b  

^a UNIVERSITY OF BOLOGNA   (Italy)

^b UNIVERSITY OF FERRARA   (Italy)

Author keywords

[No Author keywords available]

Indexed keywords

KINEMATICS; MOTION CONTROL; MOTION PLANNING; ROBOTICS;

FULLY PARALLEL MANIPULATORS;

MANIPULATORS;

EID: 0032014803     PISSN: 10500472     EISSN: None     Source Type: Journal    
DOI: 10.1115/1.2826679     Document Type: Article

References (12)

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2. Burdick, J. W., 1991, “A Classification of 3R Regional Manipulator Singularities and Geometries,” Proc. of the 1991 IEEE Int. Conference on Robotics and Automation, Sacramento, California, April.
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8. Parenti-Castelli, V., and Innocenti, C., 1988b, “Position Analysis of Robot Manipulators: Regions and Subregions,” Proc. of the First Int. Meeting on Advances in Robot Kinematics, Lubljana, Yugoslavia, September 19-21, pp. 150-158.
9. Pieper, D., 1968, “The Kinematics of Manipulators Under Computer Control,” Ph.D. Thesis, Stanford University.
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11. Waldron, K. J., and Hunt, K. H., 1987, “Serial-Parallel Dualities in Actively Controlled Mechanisms,” Fourth Int. Symposium on Robotics Research, Santa Cruz, September, pp. 175-181.
12. Wang, S. L., and Waldron, K. J., 1987, “A Study of the Singular Configurations of Serial Manipulators,” ASME Journal of Mechanisms, Transmissions, and Automation in Design, Vol. 109, March, pp. 14-20.