..., and it can also be useful for other kinds of redundantly actuated PKMs. machine tools numerical control redundant manipulators servomechanisms homing redundantly actuated parallel kinematic machine assistant homing strategy Homing is one of the most important operations for numerical...

... of the kinematic parallel structure considered is tested and its behavior is observed under operating conditions. 11 10 2005 05 09 2006 redundant manipulators industrial manipulators position control Part of this technical brief was published in the Proceedings of the 28th Conference...

... general and specialized form, with others from the literature is provided. 21 07 2004 05 04 2005 end effectors chains position measurement servomotors redundant manipulators measurement errors One of the main concerns which may restrain the application of robots consists...

...; revised July 2003. Associate Editor: C. Mavroidis. 01 May 2002 01 July 2003 05 05 2004 redundant manipulators calibration optimisation torsion Parallel mechanisms consist of several serial chains that connect a base to a moving platform. Because of their structure...

.... This is analogous to the revolution of the digital computer replacing the analog computer. However, this leads to mechanisms with complex system kinematics. Studies of the kinematics and control of such “hyper-redundant” manipulators, both with and without binary actuation have been performed 1 8 9 10 11 12...

... of the nonredundant and redundant manipulators are compared. It is shown here that the conditions for the singularity of the redundant manipulators are reduced drastically relative to the nonredundant ones. As a result, the proposed kinematically redundant parallel manipulators may be of great interest in several...

... for publication in the JOURNAL OF MECHANICAL DESIGN . Manuscript received May 2001; revised October 2002. Associate Editor: G. S. Chirikjian. 01 May 2001 01 October 2002 11 06 2003 redundant manipulators manipulator kinematics motion control Parallel manipulators typically...