2005
DOI: 10.1016/j.mechmachtheory.2004.05.007
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Inverse dynamics of parallel manipulators in the presence of drive singularities

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Cited by 67 publications
(59 citation statements)
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“…40'ın sağ tarafında bulunan terimler arasında da tekil konumda aynı ilişki bulunmalıdır [16]. Yani Eş.…”
Section: Sayisal öRnek (Numerical Example)unclassified
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“…40'ın sağ tarafında bulunan terimler arasında da tekil konumda aynı ilişki bulunmalıdır [16]. Yani Eş.…”
Section: Sayisal öRnek (Numerical Example)unclassified
“…Rouché-Frobenius teoreminin [29] doğrudan bir sonucu olan bu tutarlılık koşulu gerek bu bölümde ele alınan mekanizma gerekse de genel bir paralel robot için literatürde detaylı olarak çalışılmıştır [16,18]. Burada örnek olarak seçilen mekanizmanın tekilliklere karşı gürbüz dengelenmesi problemi ise Özdemir [30] …”
Section:  unclassified
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“…However, non-redundancy offers improvements in terms of cost and complexity. One of the solutions in this regard is the planning of the motion in order to ensure the consistency of the dynamic model even at the singular position [9][10][11][12][13]. This motion planning technique has been also adapted to rigid-link flexible-joint and flexible parallel robots [14,15].…”
Section: Introductionmentioning
confidence: 99%
“…Since the locations of the drive singularities and the corresponding modified equations are known (as derived in Section 3), in a practical scenario the actuator forces are found using the modified equations in the vicinity of the singular positions and using the regular inverse dynamic equations elsewhere. Deployment motions of 2 and 3 dof planar manipulators are analyzed to illustrate the proposed approach (Ider, 2004;Ider, 2005).…”
Section: Introductionmentioning
confidence: 99%