Measuring the closeness to singularities of a planar parallel manipulator using geometric algebra

DOI10.1016/J.APM.2018.01.006MaRDI QIDQ2295256zbMATH OpenOpenAlexFDO

Authors Huijing Yao, Qinchuan Li, Qiaohong Chen, Xinxue Chai

Publication date 12 February 2020

Published in Applied Mathematical Modelling (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1016/j.apm.2018.01.006

zbMATH Keywords

geometric algebrasingularity analysisparallel manipulatorcloseness to singularities

Mathematics Subject Classification ID

Robot dynamics and control of rigid bodies (70E60)

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Cites work

• Applications of Clifford's geometric algebra
• Foundations of geometric algebra computing.
• Geometric algebra with applications in engineering
• Geometric computing. For wavelet transforms, robot vision, learning, control and action.
• Jacobian, manipulability, condition number and accuracy of parallel robots
• Singularity analysis of 3-RPR parallel manipulators using geometric algebra
• Singularity analysis of a 4-DOF parallel manipulator using geometric algebra
• Singularity analysis of a class of parallel robots based on Grassmann-Cayley algebra

Cited in

(6)

• Singularity distance computations for 3-RPR manipulators using intrinsic metrics
• Mobility analysis of multi-loop coupling mechanisms using geometric algebra
• Singularity analysis of a 4-DOF parallel manipulator using geometric algebra
• Direct singularity closeness indexes for the hexa parallel robot
• Singular planes of serial wrist-partitioned manipulators and their singularity metrics
• Singularity analysis of 3-RPR parallel manipulators using geometric algebra

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