Singular configurations of parallel manipulators and Grassmann geometry
نویسنده
چکیده
Parallel manipulators have a specific mechanical architecture where all the links are connected both at the base and at the gripper of the robot. By changing the lengths of these links we are able to control the position 1 of the gripper. In general for a given set of links lengths there is only one position for the gripper. But it may be suspected that in some In this paper position means position and orientation
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ورودعنوان ژورنال:
- I. J. Robotics Res.
دوره 8 شماره
صفحات -
تاریخ انتشار 1988