Analysis of configuration space singular
✍
Sandipan Bandyopadhyay; Ashitava Ghosal
📂
Article
📅
2004
🏛
Elsevier Science
🌐
English
⚖ 457 KB
A parallel manipulator or a closed-loop mechanism may gain or loose one or more degree-of-freedom at a singular point, and in this paper, we study the singularity associated with the gain of one or more degreesof-freedom. We analyze the constraint forces associated with the kinematic constraints inh