Mobility Analysis of Kinematic Chains
نویسندگان
چکیده
منابع مشابه
Singularity Analysis of Closed Kinematic Chains
This paper presents a coordinate-invariant differential geometric analysis of kinematic singularities for closed kinematic chains containing both active and passive joints. Using the geometric framework developed in Park and Kim (1996) for closed chain manipulability analysis, we classify closed chain singularities into three basic types: (i) those corresponding to singular points of the joint ...
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ژورنال
عنوان ژورنال: Kathmandu University Journal of Science, Engineering and Technology
سال: 1970
ISSN: 1816-8752
DOI: 10.3126/kuset.v6i1.3307