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Conference Papers Year : 2002

Velocity Performances Indexes for Parallel Mechanisms with Actuation Redundancy

Abstract

This paper analyses the velocity isotropy of Parallel mechanism with Actuation Redundancy. The limits of classical indexes based on the Jacobean matrix condition number are shown. Two new indexes are proposed, and the ways to compute them efficiently are given.
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Dates and versions

lirmm-00269415 , version 1 (03-04-2008)

Identifiers

  • HAL Id : lirmm-00269415 , version 1

Cite

Sébastien Krut, Olivier Company, François Pierrot. Velocity Performances Indexes for Parallel Mechanisms with Actuation Redundancy. Fundamental Issues and Future Research Directions for Parallel Mechanisms and Manipulators, Oct 2002, Quebec (Canada), pp.46-56. ⟨lirmm-00269415⟩
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