Singular planes of serial wrist-partitioned manipulators and their singularity metrics

DOI10.1016/J.MECHMACHTHEORY.2006.10.008MaRDI QIDQ886355zbMATH OpenOpenAlexFDO

Authors N. E. Zubov

Publication date 26 June 2007

Published in Mechanism and Machine Theory (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1016/j.mechmachtheory.2006.10.008

Mathematics Subject Classification ID

Kinematics of mechanisms and robots (70B15)

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Cited in

(2)

• Singularities in mechanisms. II: Trajectory tracking in the 3-axis wrist.
• Measuring the closeness to singularities of a planar parallel manipulator using geometric algebra

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