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- W4306362713 abstract "This article provides a formalism making it possible to manage the solutions of the direct and inverse kinematic models of the fully parallel manipulators. We introduce the concept of working modes to separate the solutions from the opposite geometrical model. Then, we define, for each working mode, the aspects of these manipulators. To separate the solutions from the direct kinematics model, we introduce the concept of characteristic surfaces. Then, we define the uniqueness domains, as being the greatest domains of the workspace in which there is unicity of solutions. The principal applications of this work are the design, the trajectory planning." @default.
- W4306362713 created "2022-10-17" @default.
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- W4306362713 date "2007-05-08" @default.
- W4306362713 modified "2023-09-24" @default.
- W4306362713 title "S'eparation des Solutions aux Mod`eles G'eom'etriques Direct et Inverse pour les Manipulateurs Pleinement Parall`eles" @default.
- W4306362713 doi "https://doi.org/10.48550/arxiv.0705.1148" @default.
- W4306362713 hasPublicationYear "2007" @default.
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