Determination of maximal singularity-free zones in the workspace of planar three-degree-of-freedom parallel mechanisms

Singularity analysis of closed-loop kinematic chains

Clément Gosselin, Jorge Angeles · IEEE Transactions on Robotics and Automation · 1990 · 1.7K citations

Engineering, Mechanical Engineering, Robotics Engineering +17

Task-Priority Based Redundancy Control of Robot Manipulators

Yoshihiko Nakamura, Hideo Hanafusa, Tsuneo Yoshikawa · The International Journal of Robotics Research · 1987 · 1K citations

Engineering, Mechanical Engineering, Robotics Engineering +17

Obstacle Avoidance for Kinematically Redundant Manipulators in Dynamically Varying Environments

Anthony A. Maciejewski, Charles A. Klein · The International Journal of Robotics Research · 1985 · 997 citations · Full text

Engineering, Mechanical Engineering, Robotics Engineering +13

Manipulator Inverse Kinematic Solutions Based on Vector Formulations and Damped Least-Squares Methods

Charles W. Wampler · IEEE Transactions on Systems Man and Cybernetics · 1986 · 830 citations

Engineering, Mechanical Engineering, Robotics Engineering +17

The Optimum Kinematic Design of a Planar Three-Degree-of-Freedom Parallel Manipulator

Clément Gosselin, Jorge Angeles · Journal of Mechanisms Transmissions and Automation in Design · 1988 · 761 citations

Engineering, Mechanical Engineering, Robotics Engineering +17