论文信息 - Comparison of an exact and an approximate method of singularity avoidance in platform type parallel manipulators - 字舞流文

Comparison of an exact and an approximate method of singularity avoidance in platform type parallel manipulators

S. Bhattacharya | H. Hatwal | Arindam Ghosh

[1] D. E. Whitney,et al. The mathematics of coordinated control of prosthetic arms and manipulators. , 1972 .

[2] K. H. Hunt,et al. Structural Kinematics of In-Parallel-Actuated Robot-Arms , 1983 .

[3] E F Fichter,et al. A Stewart Platform- Based Manipulator: General Theory and Practical Construction , 1986 .

[4] Charles W. Wampler,et al. Manipulator Inverse Kinematic Solutions Based on Vector Formulations and Damped Least-Squares Methods , 1986, IEEE Transactions on Systems, Man, and Cybernetics.

[5] Yoshihiko Nakamura,et al. Inverse kinematic solutions with singularity robustness for robot manipulator control , 1986 .

[6] J. Magnus,et al. Matrix Differential Calculus with Applications in Statistics and Econometrics (Revised Edition) , 1999 .

[7] Anthony A. Maciejewski,et al. The Singular Value Decomposition: Computation and Applications to Robotics , 1989, Int. J. Robotics Res..

[8] Ron P. Podhorodeski. An approach for ensuring manipulator tip accuracy near singularities , 1993 .

[9] Manja V. KirLambdaanski,et al. Symbolic Singular Value Decomposition for a PUMA Robot and Its Application to a Robot Operation Near Singularities , 1993, Int. J. Robotics Res..