Singularity analysis of a 4-DOF parallel manipulator using geometric algebra

DOI10.1007/978-1-4020-4941-5_30zbMath1323.70045OpenAlexW147060992MaRDI QIDQ3196241

Tanio K. Tanev

Publication date: 29 October 2015

Published in: Advances in Robot Kinematics (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1007/978-1-4020-4941-5_30

zbMATH Keywords

kinematicssingularitygeometric algebraparallel manipulator

Mathematics Subject Classification ID

Kinematics of mechanisms and robots (70B15) Clifford algebras, spinors (15A66)

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A geometric approach for forward kinematics analysis of a 3-SPS/S redundant motion manipulator with an extra sensor using conformal geometric algebra ⋮ Analytical mobility analysis of Bennett linkage using geometric algebra ⋮ Singularity analysis of 3-RPR parallel manipulators using geometric algebra ⋮ Measuring the closeness to singularities of a planar parallel manipulator using geometric algebra ⋮ A geometric algebra based higher dimensional approximation method for statics and kinematics of robotic manipulators

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