Determination of singularities of some 4-DOF parallel manipulators by translational/rotational Jacobian matrices.

Yi Lu Yan Shi Jianping Yu

Published in: Robotica (2010)

Keyphrases

parallel manipulator
degrees of freedom
singular value decomposition
block diagonal
inverse dynamics
pose estimation
motion planning
pseudo inverse
end effector
rigid motion
translational motion
configuration space
articulated objects
vector field
path planning
joint angles
face recognition
viewpoint