Wrench Recovery for Wire-Actuated Parallel Manipulators
Methodologies for investigating the effect of wire/actuator failures on the wrench capability of wire-actuated parallel manipulators are presented that result in minimum norm solution for the correctional wire tension and overall tension vectors. A planar manipulator is simulated to illustrate the proposed methodologies.
KeywordsJacobian Matrix Null Space Minimum Norm Range Space Task Space
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- L. Notash, Failure Recovery for Wrench Capability of Wire-Actuated Parallel Manipulators, Robotica, doi:10.1017/S0263574711001160, 2011.Google Scholar