Measuring "closeness" to singularities for parallel manipulators

Proceedings - IEEE International Conference on Robotics and Automation

Volumn 2004, Issue 5, 2004, Pages 4539-4544

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

^a GEORGIA INSTITUTE OF TECHNOLOGY   (United States)

Author keywords

[No Author keywords available]

Indexed keywords

ACTUATORS; CONSTRAINT THEORY; EIGENVALUES AND EIGENFUNCTIONS; END EFFECTORS; INVARIANCE; KINETIC ENERGY; MATHEMATICAL MODELS; MOTION PLANNING; NATURAL FREQUENCIES; PROBLEM SOLVING; TORQUE MEASUREMENT;

LINEARIZED DYNAMICS; PARALLEL MANIPULATORS; SINGULAR CONFIGURATION; TORQUE TRANSMISSION;

MANIPULATORS;

EID: 3042685705     PISSN: 10504729     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/robot.2004.1302433     Document Type: Conference Paper

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