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Study and resolution of singularities for a 6-DOF PUMA manipulator

✍ Scribed by Fan-Tien Cheng; Tzung-Liang Hour; York-Yin Sun; Tsing-Hua Chen

Book ID
117874301
Publisher
IEEE
Year
1997
Tongue
English
Weight
341 KB
Volume
27
Category
Article
ISSN
1083-4419

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πŸ“œ SIMILAR VOLUMES

Comparative study and experimental verif
Comparative study and experimental verification of singular-free algorithms for a 6 DOF parallel haptic device
✍ Hyung Wook Kim; Jae Hoon Lee; Il Hong Suh; Byung-Ju Yi πŸ“‚ Article πŸ“… 2005 πŸ› Elsevier Science 🌐 English βš– 490 KB

It is well known that there exist many more singularities in parallel type mechanisms compared to serial type mechanisms. In haptic applications, these singularities deteriorate the force reflecting performance. Furthermore, as opposed to general manipulators, haptic systems cannot avoid the singula