Local analysis of singular configurations of open and closed loop manipulators
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Publication:1851115
DOI10.1023/A:1020969529920zbMath1028.70004MaRDI 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 manipulators; screw system; serial manipulators; singular configurations; passive joints; active joints; manipulator Jacobian; maximum rank deficiency; minimum number of joints
70Q05: Control of mechanical systems
70B15: Kinematics of mechanisms and robots
70E60: Robot dynamics and control of rigid bodies
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