6 search results - page 1 / 2 » Removing the Singularities of Serial Manipulators by Transfo... |
ICRA
1998
IEEE
13 years 9 months ago
1998
IEEE
A new method of handling the kinematic singularities of serial robotic manipulators is proposed. The idea is to transform the manipulator's workspace W into a desingularized ...
CORR
2007
Springer
13 years 4 months ago
2007
Springer
The aim of this paper is to characterize the uniqueness domains in the workspace of parallel manipulators, as well as their image in the joint space. The notion of aspect introduc...
JIRS
2010
13 years 3 months ago
2010
The estimation of the performance characteristics of robot manipulators is crucial in robot application and design. Furthermore, studying the manipulability index for every point w...
ICRA
1998
IEEE
13 years 9 months ago
1998
IEEE
The aim of this paper is to characterize the notion of aspect in the workspace and in the joint space for parallel manipulators. In opposite to the serial manipulators, the parall...
CORR
2007
Springer
13 years 4 months ago
2007
Springer
This work investigates new kinematic features of parallel manipulators. It is well known that parallel manipulators admit generally several direct kinematic solutions for a given ...