Browsing by Subject "branch-and-prune method"
Now showing items 1-4 of 4
(ASME PRESS, 2013)
Restricted access - publisher's policyThe workspace of a Stewart platform is a complex sixdimensional volume embedded in the Cartesian space defined by six pose parameters. Because of its large dimension and complex shape, this volume is difficult to compute ...
Open AccessThis paper provides a method to compute all types of singularities of non-redundant manipulators with non-helical lower pairs and designated instantaneous input and output speeds. A system of equations describing each ...
Open AccessThis paper is concerned with the task to obtain a complete description of the singularity set of any given non-redundant manipulator, including the identification and the precise computation of each constituent singularity ...
Singularities of non-redundant manipulators: a short account and a method for their computation in the planar case (2013)
Open AccessThe study of the singularity set is of utmost utility in understanding the local and global behavior of a manipulator. After reviewing the mathematical conditions that characterize this set, and their kinematic and geometric ...