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TECHNICAL PAPERS

Geometric Interpretation of the Derivatives of Parallel Robots’ Jacobian Matrix With Application to Stiffness Control

[+] Author and Article Information
N. Simaan, M. Shoham

Robotics Laboratory, Department of Mechanical Engineering, Technion–Israel Institute of Technology, Haifa 32000, Israel

J. Mech. Des 125(1), 33-42 (Mar 21, 2003) (10 pages) doi:10.1115/1.1539514 History: Received December 01, 2000; Revised February 01, 2002; Online March 21, 2003
Copyright © 2003 by ASME
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References

Figures

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Typical Stewart-Gough manipulator
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Static equilibrium on base and moving platform
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Lines of the Jacobian in W (world coordinate system)
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The lines of the Jacobian and the lines of its derivative with respect to x coordinate
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Line and flat pencil singularities of the derivatives of the matrix A
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Line and flat pencil singularities of the Jacobian
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A planar redundant parallel manipulator in a stiffness modulation singularity

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