Investigation of the deficiencies of parallel manipulators in singular configurations through the jacobian nullspace

Proceedings - IEEE International Conference on Robotics and Automation

Volumn 2, Issue , 2001, Pages 1313-1320

  Chan, V K ^a   Ebert Uphoff, I ^a  

^a GEORGIA INSTITUTE OF TECHNOLOGY   (United States)

Author keywords

[No Author keywords available]

Indexed keywords

ACTUATORS; DEGREES OF FREEDOM (MECHANICS); END EFFECTORS; MANIPULATORS; MATRIX ALGEBRA; TORQUE MEASUREMENT;

JACOBIAN NULLSPACE; PARALLEL MANIPULATORS;

KINEMATICS;

EID: 0034871993     PISSN: 10504729     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/ROBOT.2001.932792     Document Type: Conference Paper

References (12)

1. Singular configurations of parallel manipulators and grassmann geometry
2. Characteristic tetrahedron of wrench singularities for parallel manipulators with three legs
3. Singularity analysis of closed loop kinematic chains
4. Hybrid twist and wrench control for a robotic manipulator
5. Robot manipulability
6. A mixed elastic and rigid-body dynamic model of an actuation redundant parallel robot with high-reduction gears
7. Architecture singularities of platform manipulators
8. Kinematic study of a new type of spatial parallel platform mechanism
9. Force redundancy in parallel manipulators: Theoretical and practical issues
10. Uncertainty configurations of parallel manipulators
11. Redundant actuation for improving kinematic manipulability