Singularity analysis of a 4-DOF parallel manipulator using geometric algebra

DOI10.1007/978-1-4020-4941-5_30MaRDI QIDQ3196241zbMATH OpenOpenAlexFDO

Authors Tanio K. Tanev

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_30

zbMATH Keywords

singularitykinematicsgeometric algebraparallel manipulator

Mathematics Subject Classification ID

Kinematics of mechanisms and robots (70B15) Clifford algebras, spinors (15A66)

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• Analytical mobility analysis of Bennett linkage using geometric algebra
• A geometric approach for forward kinematics analysis of a 3-SPS/S redundant motion manipulator with an extra sensor using conformal geometric algebra
• Singularity analysis of 3-RPR parallel manipulators using geometric algebra
• A geometric algebra based higher dimensional approximation method for statics and kinematics of robotic manipulators
• Measuring the closeness to singularities of a planar parallel manipulator using geometric algebra
• Singularity analysis of the 3/6 Stewart parallel manipulator using geometric algebra

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