Load distribution algorithms and experimentation for a redundantly actuated, singularity-free 3-DOF parallel haptic device


Parallel-type mechanisms provide many advantages over serial-type mechanisms. However, in case of using parallel structures as a haptic device, it is sometimes hard to ensure the performance of the force reflection due to many singular points existing in workspace. In this paper, we propose a redundantly actuated parallel 3-DOF haptic device, which is… (More)
DOI: 10.1109/IROS.2004.1389849


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