Tenth World Congress on the Theory of Machines and Mechanisms

Abstract

It was shown recently that parallel manipulators with several inverse kinematic solutions have the ability to avoid parallel singularities [Chablat 1998a] and self-collisions [Chablat 1998b] by choosing appropriate joint configurations for the legs. In effect, depending on the joint configurations of the legs, a given configuration of the end-effector may… (More)

Topics

4 Figures and Tables

Slides referencing similar topics