Unified Kinetostatics for Serial , Parallel and Mobile Robots

@inproceedings{Bruyninckx1998UnifiedKF,
  title={Unified Kinetostatics for Serial , Parallel and Mobile Robots},
  author={Herman Bruyninckx and Joris De Schutter},
  year={1998}
}
This paper summarizes the description of the statics and velocity kinematics of serial, parallel and mobile robots, based on the fundamental concepts of twists and wrenches, reciprocity, the " selectively non-reciprocal screw, " and " kinematic dualities. " This approach leads to a simplified since unified treatment of serial, parallel and mobile robot kinematics (which robotics textbooks lack) and a deeper understanding of the dual-ities between parallel and serial structures. 

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