Singularity Analysis of Limited-dof Parallel Manipulators using Grassmann-Cayley Algebra

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dc.creatorKanaan, Daniel
dc.creatorWenger, Philippe
dc.creatorChablat, Damien
dc.date2008-09-18
dc.date.accessioned2026-07-07T10:03:46Z
dc.date.available2026-07-07T10:03:46Z
dc.descriptionThis paper characterizes geometrically the singularities of limited DOF parallel manipulators. The geometric conditions associated with the dependency of six Plücker vector of lines (finite and infinite) constituting the rows of the inverse Jacobian matrix are formulated using Grassmann-Cayley algebra. Manipulators under consideration do not need to have a passive spherical joint somewhere in each leg. This study is illustrated with three example robots
dc.identifierhttps://arxiv.org/abs/0809.3180
dc.identifierhttp://arxiv.org/abs/0809.3180
dc.identifier11th International Symposium on Advances in Robot Kinematics, France (2008)
dc.identifier.urihttp://salesiana.dossiersoluciones.com/handle/123456789/169413
dc.subjectRobotics
dc.titleSingularity Analysis of Limited-dof Parallel Manipulators using Grassmann-Cayley Algebra
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