Decomposition of the space of parameters of a kinematical chain by its singularities

DOI10.1016/S0093-6413(98)00082-2zbMATH Open0983.70507MaRDI QIDQ1976685

Jean Lerbet

Publication date: 21 April 2002

Published in: Mechanics Research Communications (Search for Journal in Brave)

zbMATH Keywords

singularitysubmanifolddifferential geometryLie group theorytangent bundleJacobian matrixdecomposition of space of parameterskinematical chain

Mathematics Subject Classification ID

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Related Items (1)

On orientation, position, and attitude singularities of general 3R chains

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