Singularity-consistent path planning and motion control through instantaneous self-motion singularities of parallel-link manipulators

DOI<link itemprop=identifier href="https://doi.org/10.1002/(SICI)1097-4563(199701)14:1<27::AID-ROB3>3.0.CO;2-W" /><27::AID-ROB3>3.0.CO;2-W 10.1002/(SICI)1097-4563(199701)14:1<27::AID-ROB3>3.0.CO;2-WzbMath0894.70017OpenAlexW2055069755MaRDI QIDQ4359903

D. N. Nenchev, Masaru Uchiyama

Publication date: 25 November 1997

Full work available at URL: https://doi.org/10.1002/(sici)1097-4563(199701)14:1<27::aid-rob3>3.0.co;2-w

zbMATH Keywords

asymptotic stabilityHEXA parallel robotplanar five bar mechanismpre-defined parametrized pathvelocity-command generator type closed-loop controller

Mathematics Subject Classification ID

Control of mechanical systems (70Q05) Kinematics of mechanisms and robots (70B15)

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