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

DOI10.1016/J.MECHMACHTHEORY.2006.10.008zbMATH Open1160.70311OpenAlexW2063531531MaRDI QIDQ886355FDOQ886355

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

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Mathematics Subject Classification ID

Kinematics of mechanisms and robots (70B15)

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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