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Maximal Singularity-Free Orientation Subregions Associated with Initial Parallel Manipulator Configuration
2018
Robotics
Reduced workspace is the main parallel robot disadvantage. It is generally due to the robot configuration, mainly the platform orientation constraint, the present work intends to find the maximum sphere within the orientation workspace, i.e., the singularity-free orientation regions. These regions are related to the platform orientation through Roll-Pitch-Yaw angles. Therefore, an optimization genetic algorithm is used to determine the initial platform orientation corresponding to the largest
doi:10.3390/robotics7030057
fatcat:laydpqts3zfmbeiaryfk5grbhq