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• W192161994 abstract "This paper presents an approach for parallel robot's Jacobian matrix factorization. Besides its computational efficiency, the proposed approach, which is based on an extension of global formalism developed by Fijany, does'nt require the inversion of the inverse Jacobian matrix. This new factorization is based on a mathematical simplification of the parallel kinematic architecture and by introducing passive and active joint concepts. A singularity study starting from the Jacobian matrix factorization is also presented for the case of a spatial C5 joint parallel robot." @default.
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• W192161994 date "2006-04-16" @default.
• W192161994 modified "2023-09-26" @default.
• W192161994 title "Jacobian factorization of a C5 joint parallel robot. analysis of singular configurations" @default.
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