On the regularity of the inverse Jacobian of parallel robots

DOI10.1007/978-1-4020-4941-5_5MaRDI QIDQ3196206zbMATH OpenOpenAlexFDO

Authors Jean-Pierre Merlet, Peter S. Donelan

Publication date 29 October 2015

Published in Advances in Robot Kinematics (Search for Journal in Brave)

Full work available at URL https://hal.inria.fr/inria-00001085/file/ARK2006.pdf

zbMATH Keywords

singularityparallel robotsinverse Jacobian

Mathematics Subject Classification ID

Kinematics of mechanisms and robots (70B15)

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(4)

• On the uniform boundedness of the inertia matrix of serial robot manipulators
• Jacobian, manipulability, condition number and accuracy of parallel robots
• Determinants of interval matrices
• Interval analysis for certified numerical solution of problems in robotics

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