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• W2097721290 abstract "Workspace analysis of a novel manipulator design is presented. The manipulator is a closed-chain design offering high payload, high stiffness and low inertia, but at the expense of limited workspace. A 7 degree-of-freedom is incorporated to help expand the reachable workspace. It is shown that the resulting workspace is complex, but manageable. Methods for fast constraint detection are presented, and techniques for optimizing use of the kinematic redundancy are explained. The result is sufficiently efficient to enable online planning and collision avoidance." @default.
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• W2097721290 date "2002-11-07" @default.
• W2097721290 modified "2023-09-23" @default.
• W2097721290 title "Workspace analysis of the ParaDex robot-a novel, closed-chain, kinematically-redundant manipulator" @default.
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• W2097721290 doi "https://doi.org/10.1109/robot.2000.846385" @default.
• W2097721290 hasPublicationYear "2002" @default.
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