Comparison of an exact and an approximate method of singularity avoidance in platform type parallel manipulators.

DOI10.1016/S0094-114X(97)00066-9MaRDI QIDQ1301490zbMATH OpenOpenAlexFDO

Authors V. Pereyra

Publication date 13 September 1999

Published in Mechanism and Machine Theory (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1016/s0094-114x(97)00066-9

Mathematics Subject Classification ID

Kinematics of mechanisms and robots (70B15)

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Cited in

(9)

• Determination of the maximal singularity-free orientation workspace for the Gough-Stewart platform
• Singularity-free path planning for the Stewart platform manipulator.
• Para-arm: a five-bar parallel manipulator with singularity-perturbed design.
• Extreme configuration bifurcation analysis and link safety length of Stewart platform
• Non-singular assembly-mode changing motions for 3-R{\b P}R parallel manipulators
• Workspace generation and planning singularity-free path for parallel manipulators
• A Novel Approach to Avoid Singularities of PUMA-type Manipulators
• Singularity Avoidance of Task-redundant Robots in Pointing Tasks: On Nullspace Projection and Cardan Angles as Orientation Coordinates
• A novel method to avoid turning point singularities for the semi-regular hexagons Gough-Stewart parallel manipulator

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