Generalized Jacobian analysis of lower mobility manipulators

DOI10.1016/J.MECHMACHTHEORY.2011.01.009zbMath1337.70005OpenAlexW2025794224MaRDI QIDQ553622

Tian Huang, Hai-Tao Liu, Derek G. Chetwynd

Publication date: 27 July 2011

Published in: Mechanism and Machine Theory (Search for Journal in Brave)

Full work available at URL: http://wrap.warwick.ac.uk/41475/1/WRAP_Huang_030212-generalized_jacobian_analysis_of_lower_mobility_manipulators_mmt_2011.pdf

zbMATH Keywords

screw theoryJacobian analysislower mobility manipulators

Mathematics Subject Classification ID

Kinematics of mechanisms and robots (70B15)

Related Items (4)

Formal analysis of the kinematic Jacobian in screw theory ⋮ Screw theory based singularity analysis of lower-mobility parallel robots considering the motion/force transmissibility and constrainability ⋮ A universal modelling approach and a response index to the vibration analysis for space parallel robots by means of screw theory ⋮ New kinematics Hessian matrixes of manipulators based on skew-symmetric matrixes theory

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• Kinematic analysis and singularity representation of spatial five-degree-of-freedom parallel mechanisms
• A Linear Algebraic Procedure in Obtaining Reciprocal Screw Systems
• Inverse Velocity and Singularity Analysis of Low-DOF Serial Manipulators

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