Stratifying the singularity loci of a class of parallel manipulators

  title={Stratifying the singularity loci of a class of parallel manipulators},
  author={Carme Torras and Federico Thomas and Maria Alberich-Carrami{\~n}ana},
  journal={IEEE Transactions on Robotics},
Some in-parallel robots, such as the 3-2-1 and the 3/2 manipulators, have attracted attention because their forward kinematics can be solved by three consecutive trilaterations. In this paper, we identify a class of these robots, which we call flagged manipulators, whose singularity loci admit a well-behaved decomposition, i.e., a stratification, derived from that of the flag manifold. Two remarkable properties must be highlighted. First, the decomposition has the same topology for all members… CONTINUE READING

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