Workspace and Assembly modes in Fully-Parallel Manipulators : A Descriptive Study

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dc.creatorWenger, Philippe
dc.creatorChablat, Damien
dc.date2007-07-13
dc.date.accessioned2026-07-07T08:17:36Z
dc.date.available2026-07-07T08:17:36Z
dc.descriptionThe goal of this paper is to explain, using a typical example, the distribution of the different assembly modes in the workspace and their effective role in the execution of trajectories. The singular and non-singular changes of assembly mode are described and compared to each other. The non-singular change of assembly mode is more deeply analysed and discussed in the context of trajectory planning. In particular, it is shown that, according to the location of the initial and final configurations with respect to the uniqueness domains in the workspace, there are three different cases to consider before planning a linking trajectory.
dc.identifierhttps://arxiv.org/abs/0707.2027
dc.identifierhttp://arxiv.org/abs/0707.2027
dc.identifierAdvances in Robot Kinematics and Computational Geometry (1998) 117-126
dc.identifier.urihttp://salesiana.dossiersoluciones.com/handle/123456789/134149
dc.subjectRobotics
dc.titleWorkspace and Assembly modes in Fully-Parallel Manipulators : A Descriptive Study
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