Determination of unstable singularities in parallel robots with N arms

IEEE Transactions on Robotics

Volumn 22, Issue 1, 2006, Pages 160-167

  O'Brien, John F ^a   Jafari, Farhad ^a   Wen, John T ^b  

^a UNIVERSITY OF WYOMING   (United States)

^b RENSSELAER POLYTECHNIC INSTITUTE   (United States)

Author keywords

Actuator singularity; Parallel robots; Platform mechanism; Self motion; Unstable singularity

Indexed keywords

COMPUTATIONAL GEOMETRY; KINEMATICS; MOTION PLANNING; PARALLEL ALGORITHMS; ROBOTIC ARMS; SYSTEM STABILITY;

ACTUATOR SINGULARITY; PARALLEL ROBOTS; PLATFORM MECHANISMS; SELF-MOTION; UNSTABLE SINGULARITY;

ROBOTICS;

EID: 32644450188     PISSN: 15523098     EISSN: None     Source Type: Journal    
DOI: 10.1109/TRO.2005.858850     Document Type: Article

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