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Singularity analysis of closed-loop kinematic chains
The different kinds of singularities encountered in closed-loop kinematics chains are analyzed. Expand
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A Global Performance Index for the Kinematic Optimization of Robotic Manipulators
In this paper, a novel performance index for the kinematic optimization of robotic manipulators is presented. The index is based on the condition number of the Jacobian matrix of the manipulator,Expand
  • 786
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Stiffness mapping for parallel manipulators
  • C. Gosselin
  • Mathematics, Computer Science
  • IEEE Trans. Robotics Autom.
  • 1 June 1990
Mechanical systems containing closed-loop kinematic chains can exhibit special types of singularities that result in a loss of controllability of the element of interest . Expand
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The optimum kinematic design of a spherical three-degree-of-freedom parallel manipulator
Optimisation de la cinematique d'un manipulateur utilisant un mecanisme parallele spherique a trois degres de liberte
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Underactuated Robotic Hands
Grasping and manipulation skills are at the core of the development of modern robotic systems. Expand
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Variable admittance control of a four-degree-of-freedom intelligent assist device
This paper presents a variable admittance control approach to improve system intuitivity by inference of human intentions using velocity and acceleration. Expand
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Large-scale 3D printing of ultra-high performance concrete – a new processing route for architects and builders
In the present paper a new additive manufacturing processing route is introduced for ultra-high performance concrete. Interdisciplinary work involving materials science, computation, robotics,Expand
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On the development of the Agile Eye
The "Agile Eye" is a high-performance mechanism capable of orienting a camera within a workspace larger than that of a human eye and with velocities and accelerations larger than those of the human eye. Expand
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Underactuation in robotic grasping hands
This paper presents the development of selfadaptive and reconfigurable hands which are versatile and easy to control. These hands have three fingers and each of the fingers has three phalanges. TheExpand
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