IEEE - Institute of Electrical and Electronics Engineers, Inc. - Singularity elimination of Stewart Platform using redundant actuation

2010 International Conference on Computer Application and System Modeling (ICCASM 2010)

Author(s): Baokun Li ; Yi Cao ; Qiuju Zhang ; Hui Zhou
Publisher: IEEE - Institute of Electrical and Electronics Engineers, Inc.
Publication Date: 1 October 2010
Conference Location: Taiyuan, China, China
Conference Date: 22 October 2010
Volume: 10
ISBN (Electronic): 978-1-4244-7237-6
ISBN (Paper): 978-1-4244-7235-2
DOI: 10.1109/ICCASM.2010.5622848
Regular:

This paper mainly addresses the principle of the singularity elimination of the Stewart Platform. By adding appropriate redundant actuation, the rank of the Jacobian matrix of the platform is... View More

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