Abstract
We develop a differential-geometric approach to kinematic modelling for manipulators which provides a framework for analysing singularities for forward and inverse kinematics via input and output mappings defined on the manipulator’s configuration space.
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Amirinezhad, S.V., Donelan, P. (2019). Input and output singularities for parallel manipulators. In: Uhl, T. (eds) Advances in Mechanism and Machine Science. IFToMM WC 2019. Mechanisms and Machine Science, vol 73. Springer, Cham. https://doi.org/10.1007/978-3-030-20131-9_29
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DOI: https://doi.org/10.1007/978-3-030-20131-9_29
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Online ISBN: 978-3-030-20131-9
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