Inverse dynamics of parallel manipulators in the presence of drive singularities

Mechanism and Machine Theory

Volumn 40, Issue 1, 2005, Pages 33-44

  Ider, S Kemal ^a  

^a MIDDLE EAST TECHNICAL UNIVERSITY   (Turkey)

Author keywords

Desingularization; Drive singularity; Inverse dynamics; Parallel manipulator; Singularity

Indexed keywords

ACTUATORS; END EFFECTORS; EQUATIONS OF MOTION; MANIPULATORS; MOTION ESTIMATION; VELOCITY MEASUREMENT;

DESINGULARIZATION; DRIVE SINGULARITY; INVERSE DYNAMICS; PARALLEL MANIPULATORS; SINGULARITY;

INVERSE KINEMATICS;

EID: 10644235404     PISSN: 0094114X     EISSN: None     Source Type: Journal    
DOI: 10.1016/j.mechmachtheory.2004.05.007     Document Type: Article

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