Proposes a configuration-space kinematic model and degree of actuation concept to standardize terminology and classify actuation redundancy in parallel manipulators while avoiding input singularities.
M ¨uller: Internal Prestress Control of redundantly ac- tuated Parallel Manipulators - Its Application to Back- lash avoiding Control, IEEE Trans
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On the Terminology and Geometric Aspects of Redundant Parallel Manipulators
Proposes a configuration-space kinematic model and degree of actuation concept to standardize terminology and classify actuation redundancy in parallel manipulators while avoiding input singularities.