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Communication Dans Un Congrès Année : 2008

Singularity Analysis of Limited-dof Parallel Manipulators using Grassmann-Cayley Algebra

Résumé

This paper characterizes geometrically the singularities of limited DOF parallel manipulators. The geometric conditions associated with the dependency of six Plücker vector of lines (finite and infinite) constituting the rows of the inverse Jacobian matrix are formulated using Grassmann-Cayley algebra. Manipulators under consideration do not need to have a passive spherical joint somewhere in each leg. This study is illustrated with three example robots
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Dates et versions

hal-00322720 , version 1 (18-09-2008)

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Daniel Kanaan, Philippe Wenger, Damien Chablat. Singularity Analysis of Limited-dof Parallel Manipulators using Grassmann-Cayley Algebra. 11th International Symposium on Advances in Robot Kinematics, Jun 2008, France. pp.1-10. ⟨hal-00322720⟩
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