Direct singularity closeness indexes for the hexa parallel robot

DOI10.1007/978-1-4020-4941-5_26zbMATH Open1323.70015OpenAlexW2170265373MaRDI QIDQ3196236FDOQ3196236

Authors: Carlos Bier, Alexandre Campos, Jürgen Hesselbach 

Publication date: 29 October 2015

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

Full work available at URL: https://doi.org/10.1007/978-1-4020-4941-5_26

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zbMATH Keywords

constrained minimizationGrassmann geometryparallel manipulator singularities

Mathematics Subject Classification ID

Kinematics of mechanisms and robots (70B15)

Cited In (2)

• Families of 6R orthogonal robotic manipulators with only isolated and pseudo-isolated singular\-i\-ties
• Measuring the closeness to singularities of a planar parallel manipulator using geometric algebra

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