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- W3151961384 abstract "We apply our newly proposed singularity-consistent path tracking approach to nonredundant parallel-link manipulators. We analyze the singvlarities of such mech.anisms, assuming that the output-link m,oves on a predefined and parameterizable path. Especially, we focus on the so-called instantaneous self-motion type singularity. We propose a closed-loop controller that guarantees asymptotic stability when trackiq paths through such a singularity. As a comprehensive analytical example we use a planar five bar mechanism. A computer simulation study is also presented, using the same example, as well as a HEXA parallel robot structure." @default.
- W3151961384 created "2021-04-13" @default.
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- W3151961384 date "1996-01-01" @default.
- W3151961384 modified "2023-09-27" @default.
- W3151961384 title "Singularity-Consistent Path Planning and Control of Parallel Robot Motion Through Instantaneous-Self-Motion Type Singularities" @default.
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