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Determining Singularities of Some 3-DOF Parallel Manipulators with Linear Active Legs by 3x3 Translational/3x3 Rotational Jacobian Matrices.
Yi Lu
Shuyan Li
Yan Shi
Published in:
Int. J. Robotics Autom. (2010)
Keyphrases
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parallel manipulator
degrees of freedom
pseudo inverse
singular value decomposition
block diagonal
inverse dynamics
angular velocity
pose estimation
dynamic model
path planning
motion planning
body parts
closed form
vector field
end effector
translational motion
rigid motion
least squares
linearly independent