@article{Innocenti98,
title = {Singularity-free evolution from one configuration to another in serial
and fully-parallel manipulators},
author = {C. Innocenti and V. Parenti-Castelli},
journal = {Journal of Mechanical Design},
month = {March},
number = {1},
pages = {73-79},
volume = {120},
year = {1998},
description = {robotica-bib},
abstract = {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 cart 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.},
keywords = {imported }
}
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