Comparison of an exact and an approximate method of singularity avoidance in platform type parallel manipulators

Matrix Differential Calculus with Applications in Statistics and Econometrics.

J. R. Magnus, Heinz Neudecker · Biometrics · 1988 · 2.7K citations

Social Sciences, Economics, Mathematics +12

Inverse Kinematic Solutions With Singularity Robustness for Robot Manipulator Control

Yoshihiko Nakamura, Hideo Hanafusa · Journal of Dynamic Systems Measurement and Control · 1986 · 1.1K citations

Engineering, Mechanical Engineering, Robotics Engineering +13

Structural Kinematics of In-Parallel-Actuated Robot-Arms

K. H. Hunt · Journal of Mechanisms Transmissions and Automation in Design · 1983 · 860 citations

Engineering, Mechanical Engineering, Robotics Engineering +12

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

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

E. F. Fichter · The International Journal of Robotics Research · 1986 · 794 citations

Engineering, Mechanical Engineering, Robotics Engineering +12