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- W2098123003 abstract "The aim of this paper is to characterize the uniqueness domains in the workspace of parallel manipulators, as well as their image in the joint space. The notion of aspect introduced for serial manipulators by Borrel (1986) is redefined for such parallel manipulators. Then, it is shown that it is possible to link several solutions to the direct kinematic problem without meeting a singularity, thus meaning that the aspects are not uniqueness domains. Additional surfaces are characterized in the workspace which yield new uniqueness domains. An octree model of spaces is used to compute the joint space, the workspace and all other newly defined sets. This study is illustrated all along the paper with a 3-RPR planar parallel manipulator." @default.
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- W2098123003 date "2002-11-22" @default.
- W2098123003 modified "2023-10-02" @default.
- W2098123003 title "Definition sets for the direct kinematics of parallel manipulators" @default.
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- W2098123003 doi "https://doi.org/10.1109/icar.1997.620282" @default.
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