Piecewise overactuation of parallel mechanisms following singular trajectories: Modeling, simulation and control

Multibody System Dynamics

Volumn 12, Issue 4, 2004, Pages 317-343

  Ganovski, L ^a   Fisette, P ^a   Samin, J C ^a  

^a UNIVERSITÉ CATHOLIQUE DE LOUVAIN   (Belgium)

Author keywords

Closed loop kinematics; Feed forward computed torque; Manipulability; Overactuation; Singularities

Indexed keywords

ACTUATORS; COMPUTER SIMULATION; DEGREES OF FREEDOM (MECHANICS); KINEMATICS; MATHEMATICAL MODELS; ROBOTICS; TORQUE;

CLOSED LOOP KINEMATICS; FEEDFORWARD COMPUTED TORQUE; MANIPULABILITY; OVERACTUATION; SINGULARITIES;

PARALLEL PROCESSING SYSTEMS;

EID: 17444402496     PISSN: 13845640     EISSN: None     Source Type: Journal    
DOI: 10.1007/s11044-004-2532-1     Document Type: Article

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