Stratifying the singularity loci of a class of parallel manipulators

IEEE Transactions on Robotics

Volumn 22, Issue 1, 2006, Pages 23-32

  Torras, Carme ^a   Federico, Thomas ^a   Alberich Carramiñana, Maria ^a,b  

^a CSIC   (Spain)

^b UNIVERSITAT POLITÈCNICA DE CATALUNYA   (Spain)

Author keywords

Flag manifold; Kinematics singularities; Parallel manipulators; Trilateration

Indexed keywords

KINEMATICS; ROBOTS; ROTATION; TOPOLOGY;

FLAG MANIFOLD; KINEMATICS SINGULARITIES; PARALLEL MANIPULATORS; SINGULARITY LOCI; TRILATERATION; UNCOUPLED ROTATIONS;

MANIPULATORS;

EID: 32644449146     PISSN: 15523098     EISSN: None     Source Type: Journal    
DOI: 10.1109/TRO.2005.858861     Document Type: Article

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