Article : texte imprimé

Path Tracking of Parallel Manipulators in the Presence of Force Singularity

Jui, Kevin C. K., Auteur ; Sun, Qiao, Auteur |

Dans Transactions of the ASME . Journal of dynamic systems, measurement, and control (Vol. 127 N° 4, Décembre 2005)

Parallel manipulators are uncontrollable at force singularities due to the infeasibly high actuator forces required. Existing remedies include the application of actuation redundancy and motion planning for singularity avoidance. While actuation[...]

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