Singularity analysis of three-legged parallel robots based on passive-joint velocities

IEEE Transactions on Robotics and Automation

Volumn 17, Issue 4, 2001, Pages 413-422

  Yang, Guilin ^b   Chen, I Ming ^a,c   Lin, Wei ^b   Angeles, Jorge ^a,d  

^a IEEE

^b SINGAPORE INSTITUTE OF MANUFACTURING TECHNOLOGY   (Singapore)

^c NANYANG TECHNOLOGICAL UNIVERSITY   (Singapore)

^d MCGILL UNIVERSITY   (Canada)

Author keywords

Instantaneous kinematics; Parallel robot; Passive joint velocity; POE formula; Singularity analysis

Indexed keywords

ALGORITHMS; CLOSED LOOP CONTROL SYSTEMS; DEGREES OF FREEDOM (MECHANICS); KINEMATICS; MATRIX ALGEBRA;

PARALLEL ROBOTS; SINGULARITY ANALYSIS;

ROBOTICS;

EID: 0035428408     PISSN: 1042296X     EISSN: None     Source Type: Journal    
DOI: 10.1109/70.954754     Document Type: Article

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