Direct singularity closeness indexes for the hexa parallel robot

DOI10.1007/978-1-4020-4941-5_26MaRDI QIDQ3196236zbMATH OpenOpenAlexFDO

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

zbMATH Keywords

constrained minimizationGrassmann geometryparallel manipulator singularities

Mathematics Subject Classification ID

Kinematics of mechanisms and robots (70B15)

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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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