Kinematic Principle and Geometrical Condition of General-Linear-Complex Special Configuration of Parallel Manipulators

Singularity analysis of closed-loop kinematic chains

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

Robot Kinematics, Motion Control, Robot Control +15

Structural Kinematics of In-Parallel-Actuated Robot-Arms

K. H. Hunt · Journal of Mechanisms Transmissions and Automation in Design · 1983 · 858 citations

Robot Kinematics, Robot Control, Robotic Systems +14

A Stewart Platform- Based Manipulator: General Theory and Practical Construction

E. F. Fichter · The International Journal of Robotics Research · 1986 · 788 citations

Robot Kinematics, Engineering, Advanced Motion Control +16

Singular Configurations of Parallel Manipulators and Grassmann Geometry

Jean‐Pierre Merlet · The International Journal of Robotics Research · 1989 · 553 citations

Integral Geometry, Mathematical Programming, Robot Kinematics +19

Singularity analysis of platform-type multi-loop spatial mechanisms

Dheeman Basu, Ashitava Ghosal · Mechanism and Machine Theory · 1997 · 56 citations

Robot Kinematics, Engineering, Mechatronics +6