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cs.RO2023★ 1 cited
Architecture Singularity Distance Computations for Linear Pentapods
Aditya Kapilavai, Georg Nawratil
The kinematic/robotic community is not only interested in measuring the closeness of a given robot configuration to its next singular one but also in a geometric meaningful index e…
cs.RO2023
Singularity Distance Computations for 3-RPR Manipulators Using Intrinsic Metrics
Aditya Kapilavai, Georg Nawratil
We present an efficient algorithm for computing the closest singular configuration to each non-singular pose of a 3-RPR planar manipulator performing a 1-parametric motion. By cons…
cs.RO2023
Singularity Distance Computations for 3-RPR Manipulators Using Extrinsic Metrics
Aditya Kapilavai, Georg Nawratil
It is well-known that parallel manipulators are prone to singularities. However, there is still a lack of distance evaluation functions, referred to as metrics, for computing the d…