Kinematic analysis of a macro-micro redundantly actuated parallel manipulator

Advanced Robotics

Volumn 22, Issue 6, 2008, Pages 657-687

  Taghirad, Hamid D ^a   Nahon, Meyer ^b  

^a K N TOOSI UNIVERSITY OF TECHNOLOGY   (Iran)

^b MCGILL UNIVERSITY   (Canada)

Author keywords

Forward kinematics; Inverse kinematics; Jacobian analysis; Macro micro robot; Parallel manipulator; Redundancy; Singularity

Indexed keywords

(N-1) CRITERION; DEGREES OF FREEDOM; FORWARD KINEMATIC; JACOBIAN; KINEMATIC ANALYSIS; MACRO-MICRO MANIPULATORS; MANIPULATOR ARCHITECTURE; MICRO LEVELS; MICRO MANIPULATORS; MICRO STRUCTURING; MOVING PLATFORMS; OPTIMAL LOCATIONS; OPTIMAL TRAJECTORIES; PARALLEL MANIPULATORS; PERFORMANCE INDEX (PI); SINGULARITY AVOIDANCE;

GEOMETRY; JACOBIAN MATRICES; KINEMATICS; MACHINE TOOLS; MACROS; MANIPULATORS; MATHEMATICAL PROGRAMMING; MATRIX ALGEBRA; MICROMANIPULATORS; NONLINEAR PROGRAMMING; PHOTOGRAPHY; QUADRATIC PROGRAMMING; QUALITY ASSURANCE; RADIO TELESCOPES; REDUNDANCY; RELIABILITY; ROBOT PROGRAMMING; TELESCOPES;

SENSITIVITY ANALYSIS;

EID: 46249101289     PISSN: 01691864     EISSN: 15685535     Source Type: Journal    
DOI: 10.1163/156855308X305263     Document Type: Article

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