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.
Tsai: Robot Analysis: The Mechanics of Serial and Parallel Manipulators, John Wiley & Sons, New York
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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.