Journal ArticleDOI
Force redundancy in parallel manipulators: Theoretical and practical issues
TLDR
In contrast to kinematic redundancy (widely studied in literature) in serial manipulators, the natural choice should be force (static) redundancy in parallel manipulators.About:
This article is published in Mechanism and Machine Theory.The article was published on 1998-08-01. It has received 162 citations till now. The article focuses on the topics: Redundancy (engineering) & Serial manipulator.read more
Citations
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Journal ArticleDOI
The Stewart platform manipulator: a review
TL;DR: A review of the literature on the six-degree-of-freedom parallel manipulator commonly known as the Stewart platform can be found in this article, where the authors highlight the distinctions of this class from the conventional serial robot manipulators and the novel perspectives that are necessary for the analysis and design of the Stewart platforms in particular and parallel manipulators in general.
Journal ArticleDOI
Mobility of Overconstrained Parallel Mechanisms
TL;DR: In this paper, the Kutzbach-Grubler mobility criterion is used to calculate the degrees of freedom of a general mechanism, but the criterion can break down for mechanisms with special geometries, and in particular, the class of overconstrained parallel mechanisms.
Journal ArticleDOI
Dynamics and control of a planar 3-DOF parallel manipulator with actuation redundancy
TL;DR: In this paper, a planar 3-DOF parallel manipulator with actuation redundancy is considered and a position and force switching control strategy is proposed based on the dynamic model.
Journal ArticleDOI
Force capabilities of redundantly-actuated parallel manipulators
TL;DR: A methodology of using scaling factors to determine the force capabilities of non-redundantly and redundantly-actuated parallel manipulators is presented in this paper, which allows the actuator limits to be easily incorporated into the problem of determining force capabilities.
References
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Journal ArticleDOI
A Platform with Six Degrees of Freedom
TL;DR: In this article, the authors describe a six-degree-of-freedom control with six motors, each having a ground abutment, for simulating flight conditions in the training of pilots.
Journal ArticleDOI
Singularity analysis of closed-loop kinematic chains
Clément Gosselin,Jorge Angeles +1 more
TL;DR: The different kinds of singularities encountered in closed-loop kinematics chains are analyzed and a general classification of these singularities in three main groups, based on the properties of the Jacobian matrices of the chain, is described.
Book
Advanced Robotics: Redundancy and Optimization
TL;DR: Advanced robotics: redundancy and optimization, Advanced robotics: redundancies and optimization , مرکز فناوری اطلاعات و £1,000,000 کسورزی .
Journal ArticleDOI
Obstacle Avoidance for Kinematically Redundant Manipulators in Dynamically Varying Environments
TL;DR: In this paper, the joint angle rates for a manipulator under the constraints of multiple goals, the primary goal described by the specified end-effector trajectory and secondary goals describ ing the obstacle avoidance criteria.