Overarching framework for measuring closeness to singularities of parallel manipulators

IEEE Transactions on Robotics

Volumn 21, Issue 6, 2005, Pages 1037-1045

  Voglewede, Philip A ^a   Ebert Uphoff, Imme ^b  

^a UNIVERSITY OF SOUTH CAROLINA   (United States)

^b GEORGIA INSTITUTE OF TECHNOLOGY   (United States)

Author keywords

Constrained optimization; Parallel manipulators; Platform singularities; Screw theory

Indexed keywords

EIGENVALUES AND EIGENFUNCTIONS; KINEMATICS; KINETIC ENERGY; LAGRANGE MULTIPLIERS; MATRIX ALGEBRA; OPTIMIZATION; POTENTIAL ENERGY;

CONSTRAINED OPTIMIZATION; PARALLEL MANIPULATORS; PLATFORM SINGULARITIES; SCREW THEORY;

MANIPULATORS;

EID: 29844455079     PISSN: 15523098     EISSN: None     Source Type: Journal    
DOI: 10.1109/TRO.2005.855993     Document Type: Article

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