Input and output singularities for parallel manipulators

Amirinezhad, SV; Donelan, Peter

doi:10.25455/wgtn.16442544.v1

iftomm-2019_inputoutput.pdf (902.68 kB)

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Input and output singularities for parallel manipulators

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posted on 2021-08-26, 04:17 authored by SV Amirinezhad, Peter DonelanPeter Donelan

We develop a differential-geometric approach to kinematic modelling for manipulators which provides a framework for analysing singularities for forward and inverse kinematics via input and output mappings defined on the manipulator’s configuration space.

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Amirinezhad, S. V. & Donelan, P. (2019). Input and output singularities for parallel manipulators. Mechanisms and Machine Science (73, pp. 289-298). Springer International Publishing. https://doi.org/10.1007/978-3-030-20131-9_29