Instantaneous kinematics and singularity analysis of three-legged parallel manipulators

IEEE International Conference on Intelligent Robots and Systems

Volumn 3, Issue , 2001, Pages 1275-1280

  Dash, Anjan Kumar ^a   Chen, I Ming ^a   Yeo, Song Huat ^a   Yang, Guilin ^a  

^a NANYANG TECHNOLOGICAL UNIVERSITY   (Singapore)

Author keywords

[No Author keywords available]

Indexed keywords

ACTUATORS; COMPUTER SIMULATION; END EFFECTORS; GEOMETRY; KINEMATICS; MATRIX ALGEBRA; NUMERICAL METHODS; UNIVERSAL JOINTS; VELOCITY CONTROL;

GRASSMANN LINE GEOMETRY; PRODUCT OF EXPONENTIAL FORMULATION; RECIPROCAL SCREW; SINGULARITY ANALYSIS; THREE-LEGGED PARALLEL MANIPULATORS; TWIST ANNIHILATORS;

MANIPULATORS;

EID: 0035558062     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: None     Document Type: Conference Paper

References (7)

1. On twist and wrench generators and annihilators
2. Robotic manipulators and the product of exponential formula
3. Architecture singularities of platform manipulators
4. Singular configurations of parallel manipulators and grassman geometry
5. Uncertainties configurations of three-branch parallel manipulators: Identification and elimination
6. Singularity analysis of three-legged parallel robots based on passive-joint velocities