]> BibSonomy publications for /bibtex/2cb9e797d209b1a24077837bd4e9d8f12/dmartins http://www.bibsonomy.org/burst/bibtex/2cb9e797d209b1a24077837bd4e9d8f12/dmartins BibSonomy BuRST Feed for /bibtex/2cb9e797d209b1a24077837bd4e9d8f12/dmartins 2008-12-03T20:09:36+01:00 Singularity-free evolution from one configuration to another in serial and fully-parallel manipulators robotica-bibhttp://www.bibsonomy.org/bibtex/2cb9e797d209b1a24077837bd4e9d8f12/dmartins dmartins 2008-03-02T02:12:02+01:00 imported
Singularity-free evolution from one configuration to another in serial and fully-parallel manipulators
C. Innocenti and V. Parenti-Castelli Journal of Mechanical Design 120 73-79 (1998)
to imported on 2008-03-02 02:12:02 ]]> Journal of Mechanical DesignMarch173-79Singularity-free evolution from one configuration to another in serial and fully-parallel manipulators1201998imported 2008-03-02 02:12:02.0Among 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.