Local analysis of singular configurations of open and closed loop manipulators
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Publication:1851115
DOI10.1023/A:1020969529920zbMath1028.70004OpenAlexW86857829MaRDI QIDQ1851115
Publication date: 15 December 2002
Published in: Multibody System Dynamics (Search for Journal in Brave)
Full work available at URL: https://doi.org/10.1023/a:1020969529920
parallel manipulatorsscrew systemserial manipulatorssingular configurationspassive jointsactive jointsmanipulator Jacobianmaximum rank deficiencyminimum number of joints
Control of mechanical systems (70Q05) Kinematics of mechanisms and robots (70B15) Robot dynamics and control of rigid bodies (70E60)
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