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NTIS 바로가기Proceedings of the Institution of Mechanical Engineers. Journal of Mechanical Engineering Science Part C, v.228 no.11, 2014년, pp.2018 - 2035
Shin, Kyoosik (Department of Robot Engineering, Hanyang University, Ansan, South Korea) , Yi, Byung-Ju (Department of Electronic Systems Engineering, Hanyang University, Ansan, South Korea) , Kim, Wheekuk (Department of Control and Instrumentation Engineering, College of Science and Technology, Korea University, Sejong, South Korea)
Typical parallel mechanisms suffer from parallel singularity due to kinematic coupling of multichains. This paper investigates how to remove parallel singularities by using redundant actuations. First, actuation wrenches and constraint wrenches forming the full direct kinematic Jacobian matrix are d...
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