MANIPULATION
SEPA-ROBOT: a serial-parallel manipulator with singularity-based design
Khaled R. Atia, Matthew P. Cartmell
- Year
- 2005
- Citations
- 2
Abstract
In this paper a design for a new singularity-based 2 DOF robot manipulator is proposed. The design permits operation of the manipulator in either serial, parallel, or redundant actuated parallel mode. Thus all serial and parallel applications can be performed by one manipulator. By means of this design the versatility of the manipulator can be optimised.
Keywords
Parallel manipulatorSerial manipulatorSingularityManipulator (device)Computer scienceRobotRobot manipulatorControl theory (sociology)Mode (computer interface)Control engineering
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