Among the several ways adopted for the characterization of manipulator performances is identification of the typologies of maneuvers allowed by the manipulator kinematic arrangement. The multiplicity of configurations corresponding to a given hand position for serial manipulators, or to a given set of input values for fully-parallel manipulators, makes one wonder whether a manipulator can perform the maneuver of changing its configuration without meeting singularities. The paper shows that singularity-free configuration change is possible both for general-geometry serial and fully-parallel architectures. Results are reported that shed light on potential performances of manipulators and allow, in perspective, a deeper exploitation of their structural peculiarities.
Singularity-Free Evolution From One Configuration to Another in Serial and Fully-Parallel Manipulators
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Innocenti, C., and Parenti-Castelli, V. (March 1, 1998). "Singularity-Free Evolution From One Configuration to Another in Serial and Fully-Parallel Manipulators." ASME. J. Mech. Des. March 1998; 120(1): 73–79. https://doi.org/10.1115/1.2826679
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