• A singularity-free path planner for closed-chain manipulators 

      Bohigas Nadal, Oriol; Henderson, Michael E.; Ros Giralt, Lluís; Porta Pleite, Josep Maria (IEEE, 2012)
      Text en actes de congrés
      Accés obert
      This paper provides an algorithm for computing singularity-free paths on non-redundant closed-chain manipulators. Given two non-singular configurations of the manipulator, the method attempts to connect them through a ...
    • Planning singularity-free paths on closed-chain manipulators 

      Bohigas Nadal, Oriol; Henderson, Michael E.; Ros Giralt, Lluís; Manubens Ferriol, Montserrat; Porta Pleite, Josep Maria (2013)
      Article
      Accés obert
      This paper provides an algorithm for computing singularity-free paths on closed-chain manipulators. Given two non-singular configurations of the manipulator, the method attempts to connect them through a path that maintains ...