Topological analysis of singularity loci for serial and parallel manipulators
Singularities of robot manipulators have been intensely studied in the last decades by researchers of many fields. Serial singularities produce some local loss of dexterity of the manipulator, therefore it might be desirable to search for singularityfree trajectories in the jointspace. On the oth...
| Main Author: | |
|---|---|
| Other Authors: | |
| Format: | Doctoral Thesis |
| Language: | en |
| Published: |
Alma Mater Studiorum - Università di Bologna
2008
|
| Subjects: | |
| Online Access: | http://amsdottorato.unibo.it/954/ |