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A Type II singularity avoidance algorithm for parallel manipulators using output twist screws
ArticleAbstract: Parallel robots (PRs) are closed-chain manipulators with diverse applications due to their accuracyPalabras claves:Output twist screws, Parallel robots, Singularity avoidance, Trajectory planningAutores:Escarabajal R.J., José L. Pulloquinga, Mata V., Valera A., Valles M.Fuentes:scopusExperimental analysis of Type II singularities and assembly change points in a 3UPS+RPU parallel robot
ArticleAbstract: Parallel robots (PRs) have singular configurations where the robot gains at least one degree-of-freePalabras claves:Assembly modes, Parallel Robot, Screw theory, Singular configuration, Virtual powerAutores:Díaz-Rodríguez M., José L. Pulloquinga, Mata V., Valera A., Zambrano O.I., Zamora-Ortiz P.Fuentes:scopus