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RISThe Effects of Actuation Schemes on the Kinematic Performance of Manipulators
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: This paper is concerned with the effects of actuation schemes on three measures of kinematic performance which depend upon a manipulator’s Jacobian matrix (namely, the minimum singular value, ...
In-Parallel Manipulators: A Framework on How to Model Actuation Schemes and a Study of their Effects on Singular Postures
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: This paper is concerned with the modeling of actuation schemes and their effects on the singularities of in-parallel manipulators. We begin by presenting a framework on how to incorporate ...