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210 références sur: Singularités

Bibliography

1

Alba-Gomez O.G., Pamanes J.A., and Wenger P.
Trajectory planning of a redundant parallel manipulator changing of working mode.
In 12th IFToMM World Congress on the Theory of Machines and Mechanisms, Besancon, 18-21 Juin 2007
Keywords: redundant robot,singularity,planar robot,trajectory planning.

2

Altuzarra O. and others .
A practical procedure to analyze singular configurations in closed kinematic chains.
IEEE Trans. on Robotics, 20(6):929-940, Décembre 2004
Keywords: singularity,planar robot.

3

Altuzarra O. and others .
Motion pattern singularity in lower mobility parallel manipulators.
In ARK, pages 489-496, Ljubljana, 26-29 Juin 2006
Keywords: singularity.

4

Amine S. and others .
Singularity analysis of lower-mobility parallel robots with an articulated nacelle.
In ARK, pages 273-282, Piran, 28 Juin-1 Juillet, 2010
Keywords: singularity,4 dof robot.

5

Angeles J., Yang G., and Chen I-M.
Singularity analysis of three-legged, six-dof platform manipulators with URS legs.
IEEE/ASME Trans. on Mechatronics, 8(4):469-475, Décembre 2003
Keywords: singularity.

6

Arakelian V., Briot S., and Glazunov V.A.
Singular positions of a Paminsa parallel manipulator.
J. of Machinery Manufacture and Reliability, (1):62-69, 2006.
Keywords: singularity,4 dof robot.

7

Arakelian V., Briot S., and Glazunov V.A.
Improvement of functional performance of spatial parallel manipulators using mechanisms of variable structure.
In 12th IFToMM World Congress on the Theory of Machines and Mechanisms, Besancon, 18-21 Juin 2007
Keywords: singularity,workspace.

8

Arakelian V., Briot S., and Glazunov V.
Increase of singularity-free zones in the workspace of parallel manipulators using mechanisms of variable structure.
Mechanism and Machine Theory, 43(9):1129-1140, Septembre 2008
Keywords: singularity,planar robot,workspace.

9

Arsenault M. and Boudreau R.
The synthesis of three-degree-of-freedom planar parallel mechanisms with revolute joints (3-$\underline{R}$RR) for an optimal singularity-free workspace.
J. of Robotic Systems, 21(5):259-274, 2004.
Keywords: planar robot,design,optimal design,singularity,workspace.

10

Arun V. and others .
Determination of the workspace of the 3-dof double-octahedral variable-geometry-truss manipulator.
In 22nd Biennial Mechanisms Conf., pages 493-500, Scottsdale, 13-16 Septembre 1992
Keywords: workspace,truss,3 dof robot,singularity,mechanical architecture,inverse kinematics.

11

Baker J.E.
An analysis of the Bricard linkages.
Mechanism and Machine Theory, 15(4):267-286, 1980.
Keywords: singularity,singular robot.

12

Baker J.E.
On the 6-hinge loops in Bricard's line-symmetric and plane-symmetric octahedra.
In 9th IFToMM World Congress on the Theory of Machines and Mechanisms, pages 1494-1498, Milan, 30 Août-2 Septembre, 1995
Keywords: singularity,singular robot.

13

Baker J.E.
On closure modes and singular configurations of kinematic chains.
In ARK, pages 175-182, Caldes de Malavalla, 29 Juin-2 Juillet, 2002
Keywords: singularity.

14

Bandyopadhyay S. and Ghosal A.
Analysis of configuration space singularities of closed-loop mechanisms and parallel manipulators.
Mechanism and Machine Theory, 39(5):519-544, Mai 2004
Keywords: singularity.

15

Basu D. and Ghosal A.
Singularity analysis of platform-type multi-loop spatial mechanisms.
Mechanism and Machine Theory, 32(3):375-389, Avril 1997
Keywords: singularity.

16

Behi F.
Kinematic analysis for a six-degree-of-freedom 3-PRPS parallel mechanism.
IEEE J. of Robotics and Automation, 4(5):561-565, Octobre 1988
Keywords: mobility,kinematics,workspace,singularity.

17

Bénéa R.
Contribution à l'étude des robots pleinement parallèles de type 6R-RR-S.
Ph.D. Thesis, Université de Savoie, Annecy, 16 Décembre 1996
Keywords: mechanical architecture,workspace,singularity,dynamics,statics,mobility.

18

Ben-Horin R. and Shoham M.
Singularity analysis of a class of parallel robots based on Grassmann-Cayley algebra.
In Computational Kinematics, Cassino, 4-6 Mai 2005
Keywords: singularity.

19

Ben-Horin R. and Shoham M.
Singularity of a class of Gough-Stewart platforms with three concurrent joints.
In ARK, pages 265-274, Ljubljana, 26-29 Juin 2006
Keywords: singularity.

20

Ben-Horin R. and Shoham M.
Singularity analysis of a class of parallel robots based on Grassmann-Cayley algebra.
Mechanism and Machine Theory, 41(8):958-970, Août 2006
Keywords: singularity.

21

Ben-Horin R. and Shoham M.
Singularity condition of six-degree-of-freedom three-legged parallel robot based on Grassmann-Cayley algebra.
IEEE Trans. on Robotics, 22(4):577-590, Août 2006
Keywords: singularity.

22

Ben-Horin R. and Shoham M.
Singularity of Gough-Stewart platforms with collinear joints.
In 12th IFToMM World Congress on the Theory of Machines and Mechanisms, Besancon, 18-21 Juin 2007
Keywords: singularity.

23

Ben-Horin P. and others .
Singulab. a graphical user interface for the singularity analysis of parallel robots based on Grassmann-Cayley algebra.
In ARK, pages 49-58, Batz/mer, 23-26 Juin 2008
Keywords: planar robot,forward kinematics,singularity.

24

Ben-Horin R. and Shoham M.
A class of parallel robot practically free of singularities.
ASME J. of Mechanical Design, 130(5):052303-1/9, Mai 2008
Keywords: singularity,6 dof robot.

25

Ben-Horin R. and Shoham M.
Application of Grassmann Cayley algebra to geometrical interpretation of parallel robot singularities.
Int. J. of Robotics Research, 28(1):127-141, Janvier 2009
Keywords: singularity.

26

Berthomieu T.
Étude d'un micro-manipulateur parallèle et de son couplage avec un robot porteur.
Ph.D. Thesis, ENSTAE, Toulouse, 24 Janvier 1989
Keywords: kinematics,dynamics,workspace,mechanical architecture,actuators,6 dof robot,pneumatic,hardware,force feedback,micro-macro robot,singularity,force sensor,orientation workspace.

27

Bhattacharya S., Hatwal H., and Ghosh A.
Comparison of an exact and an approximate method of singularity avoidance in platform type parallel manipulators.
Mechanism and Machine Theory, 33(7):965-974, Octobre 1998
Keywords: singularity,trajectory planning.

28

Bier C., Campos A., and Hesselbach J.
Direct singularity closeness indexes for the Hexa parallel robot.
In ARK, pages 239-246, Ljubljana, 26-29 Juin 2006
Keywords: singularity.

29

Bonev I.A. and Gosselin C.M.
Singularity loci of planar parallel manipulators with revolute joints.
In F.C. Park C.C. Iurascu, editor, Computational Kinematics, pages 291-299. EJCK, 20-22 Mai 2001
Keywords: planar robot,singularity.

30

Bonev I.A. and Zlatanov D.
The mystery of the singular SNU translational parallel robot.
12 Juin 2001
www.parallemic.org/Reviews/Review004.html.
Keywords: singularity,3 dof robot.

31

Bonev I. and Gosselin C.M.
Geometric algorithms for the computation of the constant-orientation workspace and singularity surfaces of a special 6-RUS parallel manipulator.
In ASME Design Engineering Technical Conference, Montréal, 29 Septembre-2 Octobre, 2002
Keywords: workspace,singularity,6 dof robot.

32

Bonev I.A., Zlatanov D., and Gosselin C.
Singularity analysis of 3 dof planar mechanisms via screw theory.
ASME J. of Mechanical Design, 125(3):573-581, Septembre 2003
Keywords: planar robot,singularity.

33

Bonev I. and Gosselin C.M.
Singularity loci of spherical parallel mechanisms.
In IEEE Int. Conf. on Robotics and Automation, pages 2968-2973, Barcelona, 19-22 Avril 2005
Keywords: singularity,3 dof robot.

34

Bonev I., Chablat D., and Wenger P.
Working and assembly modes of the Agile Eye.
In IEEE Int. Conf. on Robotics and Automation, pages 2317-2322, Orlando, 16-18 Mai 2006
Keywords: spherical robot,singularity,forward kinematics.

35

Borràs J., Thomas F., and Torras C.
Architecture singularities in flagged parallel manipulators.
In IEEE Int. Conf. on Robotics and Automation, pages 3844-3850, Pasadena, 19-23 Mai 2008
Keywords: singularity.

36

Borràs J. and Thomas F.
Kinematics of line-plane subassemblies in Stewart platforms.
In IEEE Int. Conf. on Robotics and Automation, pages 4094-4099, Kobe, 14-16 Mai 2009
Keywords: kinematics,singularity.

37

Borràs J., Thomas F., and Torras C.
Singularity invariant leg rearrangements in Stewart-Gough platforms.
In ARK, pages 421-428, Piran, 28 Juin-1 Juillet, 2010
Keywords: singularity.

38

Bricard R.
Mémoire sur la théorie de l'octaèdre articulé.
Journal de Mathématiques pures et appliquées, Liouville, tome 3:113-148, 1897.
Keywords: forward kinematics,singular robot,singularity.

39

Bricard R.
Mémoire sur les déplacements à trajectoire sphériques.
Journal de l'École Polytechnique, 11(2):1-96, 1906.
Keywords: forward kinematics,singularity,singular robot.

40

Briot S. and Arakelian V.
Singularity analysis of PAMINSA Manipulators.
In 12th IFToMM World Congress on the Theory of Machines and Mechanisms, Besancon, 18-21 Juin 2007
Keywords: singularity.

41

Briot S. and Arakelian V.
On the dynamic properties and optimum control of parallel manipulators in the presence of singularity.
In IEEE Int. Conf. on Robotics and Automation, pages 1549-1555, Pasadena, 19-23 Mai 2008
Keywords: singularity,control.

42

Briot S. and Bonev I.A.
Singularity analysis of zero-torsion parallel mechanisms.
In IEEE Int. Conf. on Intelligent Robots and Systems (IROS), pages 1952-1957, Nice, France, 22-26 Septembre 2008
Keywords: 3 dof robot,singularity.

43

Briot S. and others .
Self-motions of general $\underline{R}PR$ planar parallel robots.
Int. J. of Robotics Research, 27(7):855-866, Juillet 2008
Keywords: planar robot,mechanical architecture,singularity,kinematics.

44

Briot S. and Arakelian V.
Optimal force generation in parallel manipulators for passing through the singular positions.
Int. J. of Robotics Research, 27(2):967-983, Août 2008
Keywords: singularity,trajectory planning.

45

Callegari M. and Marzetti P.
Kinematic characterization of the $3$ $-\underline{P}UU$ parallel robot.
In Proc. Intelligent Manipulation and Grasping, IMG'04, pages 377-382, Genova, 30 Juin-1 Juillet, 2004
Keywords: 3 dof robot,kinematics,singularity.

46

Cao Y., Huang Z., and Ge Q.J.
Orientation singularity and orientation capability analyses of the Stewart-Gough manipulator.
In ASME Design Engineering Technical Conference, Long Beach, 24-28 Septembre 2005
Keywords: singularity,performance analysis.

47

Cao Y. and others .
Orientation-singularity and nonsingular orientation-workspace analysis of the semi-regular Stewart-Gough platform manipulator.
Advanced Robotics, 24(15):2119-2135, 2010.
Keywords: singularity,orientation workspace.

48

Carretero J. A., Ebrahimi I., and Boudreau R.
A comparison between two motion planning strategies for kinematically redundant parallel manipulators.
In ARK, pages 243-251, Batz/mer, 23-26 Juin 2008
Keywords: singularity,redundant robot,trajectory planning.

49

Carricato M. and Parenti-Castelli V.
A family of 3-DOF translational parallel manipulators.
ASME J. of Mechanical Design, 125(2):302-307, Juin 2003
Keywords: mechanical architecture,3 dof robot,singularity.

50

Cha S-H., Lasky T.A., and Velinsky S.A.
Singularity avoidance for the 3-rrr mechanism using kinematic redundancy.
In IEEE Int. Conf. on Robotics and Automation, pages 1195-1200, Roma, 10-14 Avril 2007
Keywords: singularity,planar robot,redundant robot.

51

Chablat D. and Wenger P.
Domaine d'unicité pour les robots parallèles.
Research Report 96-13, Ecole Centrale, Nantes, Décembre 1996
Keywords: forward kinematics,singularity,planar robot.

52

Chablat D.
Domain d'unicité et parcourabilité pour les manipulateurs pleinement parallèles.
Ph.D. Thesis, Ecole Centrale, Nantes, 6 Novembre 1998
Keywords: singularity,workspace.

53

Chablat D. and Wenger P.
A new three-dof parallel mechanism: milling machine applications.
In 2nd Chemnitzer Parallelkinematik Seminar, pages 141-152, Chemnitz, 12-13 Avril 2000
Keywords: 3 dof robot,singularity,optimal design,isotropy,workspace,machine-tool.

54

Chablat D., Wenger P., Majou F., and Bonev I.A.
Self motion of a special $3-\underline{R}PR$ planar parallel robot.
In ARK, pages 221-228, Ljubljana, 26-29 Juin 2006
Keywords: planar robot,singularity.

55

Chablat D.
Contribution à l'analyse et à l'optimisation de mécanismes poly-articulés, 31 Mars 2008
Habilitation à diriger les recherches, Université de Nantes.
Keywords: isotropy,design,optimal design,singularity.

56

Chan V.K. and Ebert-Uphoff I.
Investigation of the deficiencies of parallel manipulators in singular configurations through the jacobian nullspace.
In IEEE Int. Conf. on Robotics and Automation, Seoul, 21-26 Mai 2001
Keywords: singularity,singular motion.

57

Chebbi A-H., Affi Z., and Romdhane L.
Kinetostatic and singularity analyses of the 3-UPU translational parallel robot.
In Computational Kinematics, pages 61-68, Duisburg, 6-8 Mai 2009
Keywords: 3 dof robot,singularity.

58

Chebbi A-H., Affi Z., and Romdhane L.
Prediction of the pose errors produced by joints clearance for a 3-UPU parallel robot.
Mechanism and Machine Theory, 44(9):1768-1783, Septembre 2009
Keywords: singularity,3 dof robot,accuracy,performance analysis.

59

Chen C-T. and Chi H-W.
Singularity-free trajectory planning of platform-type parallel manipulators for minimum actuating efforts and reactions.
Robotica, 26(3):371-384, Mai 2008
Keywords: singularity,trajectory planning.

60

Chen I-M. and others .
The management of parallel-manipulator singularities using joint-coupling.
In IEEE Int. Conf. on Robotics and Automation, pages 773-778, Taipei, 14-19 Septembre 2003
Keywords: singularity.

61

Chen I-M. and others .
Shaping singularity loci of parallel manipulators using joint-coupling.
In Int. Conf. on Automation Technology, Taipei, 12-14 Septembre 2003
Keywords: singularity.

62

Chen W-S. and Chen J-K., H.and Liu.
Extreme configuration bifurcation anlysis and link safety length of Stewart platform.
Mechanism and Machine Theory, 43(5):617-626, Mai 2008
Keywords: singularity,design,kinematics.

63

Chen X. and others .
Study on kinematic characteristics and singularities of 3-dof parallel robot.
In 3rd Int. Conf. on Machine Learning and Cybernetics, pages 2870-2873, Shangai, 26-29 Août 2004
Keywords: 3 dof robot,singularity.

64

Choudhury P. and Ghosal A.
Singularity and controllability analysis of parallel manipulators and closed-loop mechanisms.
Mechanism and Machine Theory, 35(10):1455-1479, Octobre 2000
Keywords: singularity.

65

Chung Y-H., Choo J-H, and Lee J-W.
The effect of actuator relocation on singularity, jacobian and kinematic isotropy of parallel robots.
In IEEE Int. Conf. on Intelligent Robots and Systems (IROS), pages 2147-2153, Lausanne, Octobre 2002
Keywords: singularity.

66

Clavel R.
DELTA, a fast robot with parallel geometry.
In 18th Int. Symp. on Industrial Robots (ISIR), pages 91-100, Lausanne, 26-28 Avril 1988
Keywords: mechanical architecture,workspace,singularity,3 dof robot.

67

Clavel R.
Une nouvelle structure de manipulateur parallèle pour la robotique légère.
APII, 23(6):501-519, 1989.
Keywords: mechanical architecture,kinematics,4 dof robot,3 dof robot,singularity.

68

Clavel R.
Conception d'un robot parallèle rapide à 4 degrés de liberté.
Ph.D. Thesis, EPFL, Lausanne, 1991.
${\rm n}^\circ$ 925.
Keywords: mechanical architecture,kinematics,singularity,4 dof robot,workspace,kinetics,hardware.

69

Clavel R. and others .
A new parallel kinematics able to machine 5 sides of a cube-shaped object: Hita STT.
In 1st Int. Colloquium, Collaborative Research Centre 562, pages 107-118, Braunschweig, 29-30 Mai 2002
Keywords: mechanical architecture,4 dof robot,statics,singularity.

70

Clavel R. and others .
A new 5 dof parallel kinematics for production applications.
In Int. Symp. on Robotics, Stockolm, 9-11 Octobre 2002
Keywords: mechanical architecture,4 dof robot,statics,singularity.

71

Cleary K. and Arai T.
A prototype parallel manipulator: kinematics construction, software, workspace results and singularity analysis.
In IEEE Int. Conf. on Robotics and Automation, pages 566-571, Sacramento, 11-14 Avril 1991
Keywords: mechanical architecture,6 dof robot,workspace,singularity,hardware.

72

Collins C.L. and Long G.L.
The singularity analysis of an in-parallel hand controller for force-reflected teleoperation.
IEEE Trans. on Robotics and Automation, 11(5):661-669, Octobre 1995
Keywords: mechanical architecture,singularity,applications.

73

Collins C.L. and McCarthy J.M.
The quartic singularity surfaces of planar platforms in the Clifford algebra of the projective plane.
Mechanism and Machine Theory, 33(7):931-944, Octobre 1998
Keywords: singularity,planar robot.

74

Company O., , Krut S., and Pierrot F.
Analysis of a high resolution planar PKM.
In 12th IFToMM World Congress on the Theory of Machines and Mechanisms, Besancon, 18-21 Juin 2007
Keywords: planar robot,micro robot,flexible robot,singularity.

75

Crapo H.
A combinatorial perspective on algebraic geometry.
In Colloquio Int. sulle Teorie Combinatorie, Rome, 3-15 Septembre 1973
Keywords: singularity,grassmann geometry.

76

Dandurand A.
The rigidity of compound spatial grid.
Structural Topology 10, pages 43-55, 1984.
Keywords: singularity,grassmann geometry.

77

Daniali H.R.M., Zsombor-Murray P.J., and Angeles J.
Singularity analysis of a general class of planar parallel manipulators.
In IEEE Int. Conf. on Robotics and Automation, pages 1547-1552, Nagoya, 25-27 Mai 1995
Keywords: singularity.

78

Daniel R. and Dunlop R.
A geometrical interpretation of 3-3 mechanism singularity.
In ARK, pages 285-294, Ljubljana, 26-29 Juin 2006
Keywords: singularity.

79

Dasgupta B. and Mruthyunjaya T.S.
Singularity-free path planning for the Stewart platform manipulator.
Mechanism and Machine Theory, 33(6):711-725, Août 1998
Keywords: singularity,trajectory planning,trajectory verification.

80

Dasgupta B. and Mruthyunjaya T.S.
Force redundancy in parallel manipulators: theoretical and practical issues.
Mechanism and Machine Theory, 33(6):727-742, Août 1998
Keywords: statics,redundant robot,singularity.

81

Dash A.K. and others .
Workspace analysis and singularity-free path planning of parallel manipulators.
In Int. Conf. on Mechatronics Technology (ICMT), pages 457-462, Fukuoka, 29 Septembre-3 Octobre, 2002
Keywords: singularity,trajectory planning.

82

Dash A.K. and others .
Singularity-free path planning of parallel manipulators using clustering algorithm and line geometrie.
In IEEE Int. Conf. on Robotics and Automation, pages 761-766, Taipei, 14-19 Septembre 2003
Keywords: singularity,trajectory planning.

83

Dash A.K. and others .
Instantaneous kinematics and singularity analysis of three-legged parallel manipulators.
Robotica, 22(2):189-203, Mars 2004
Keywords: singularity.

84

Dash A.K. and others .
Workspace generation and planning singularity-free path for parallel manipulators.
Mechanism and Machine Theory, 40(7):778-805, Juillet 2005
Keywords: workspace,singularity,trajectory planning.

85

Degani A. and Wolf A.
Graphical singularity analysis of 3-dof planar parallel manipulators.
In ARK, pages 229-238, Ljubljana, 26-29 Juin 2006
Keywords: planar robot,singularity.

86

Degani A. and Wolf A.
Graphical singularity analysis of planar parallel manipulators.
In IEEE Int. Conf. on Robotics and Automation, pages 751-758, Orlando, 16-18 Mai 2006
Keywords: planar robot,singularity.

87

Di Gregorio R. and Parenti-Castelli V.
A translationnal 3-dof parallel manipulator.
In ARK, pages 49-58, Strobl, 29 Juin-4 Juillet, 1998
Keywords: 3 dof robot,mechanical architecture,singularity.

88

Di Gregorio R. and Parenti-Castelli V.
Mobility analysis of the 3-PSP mechanism.
In 13th RoManSy, pages 113-120, Zakopane, 3-6 Juillet 2000
Keywords: singularity.

89

Di Gregorio R.
Analytic formulation of the 6-3 fully-parallel manipulator's singularity determination.
Robotica, 19(6):663-667, Septembre 2001
Keywords: singularity.

90

Di Gregorio R. and Parenti-Castelli V.
Mobility analysis of the 3-UPU parallel mechanism assembled for a pure translational motion.
ASME J. of Mechanical Design, 124(2):259-264, Juin 2002
Keywords: 3 dof robot,singularity.

91

Di Gregorio R.
Singularity locus expression of a class of parallel mechanisms.
Robotica, 20(3):323-328, 2002.
Keywords: singularity.

92

Di Gregorio R.
Kinematics of the 3-RSR wrist.
In 11th ICAR, pages 1769-1774, Coimbra, 30 Juin-3 Juillet, 2003
Keywords: 3 dof robot,wrist,kinematics,singularity.

93

Di Gregorio R.
Direct kinematics of a class of 3-dof parallel manipulators.
In 11th ICAR, pages 550-555, Coimbra, 30 Juin-3 Juillet, 2003
Keywords: 3 dof robot,singularity.

94

Di Gregorio R.
Kinematics of the 3-RSR wrist.
IEEE Trans. on Robotics, 20(4):750-754, Août 2004
Keywords: wrist,3 dof robot,mobility,singularity.

95

Di Gregorio R.
Forward problem singularities of manipulators which become PS-2RS or 2PS-RS structures when the actuators are locked.
ASME J. of Mechanical Design, 126(4):640-645, Juillet 2004
Keywords: singularity,3 dof robot.

96

Di Gregorio R.
Statics and singularity loci of the 3-UPU wrist.
IEEE Trans. on Robotics, 20(4):630-635, Août 2004
Keywords: wrist,3 dof robot,statics,singularity.

97

Di Gregorio R.
Kinematics of the translational 3-URC mechanism.
ASME J. of Mechanical Design, 126(6):1113-1117, Novembre 2004
Keywords: 3 dof robot,kinematics,singularity.

98

Di Gregorio R.
On the direct problem singularities of a class of 3-DOF parallel manipulators.
Robotica, 22(4):389-394, 2004.
Keywords: 3 dof robot,singularity.

99

Di Gregorio R.
Determination of singularities in Delta-like manipulators.
Int. J. of Robotics Research, 23(1):89-96, Janvier 2004
Keywords: 3 dof robot,singularity.

100

Di Gregorio R.
Forward problem singularities in parallel manipulators which generate SX-YS-ZS structures.
Mechanism and Machine Theory, 40(5):600-612, Mai 2005
Keywords: singularity.

101

Di Gregorio R.
Singularity locus of 6-4 fully-parallel manipulators.
In ARK, pages 437-448, Piran, 28 Juin-1 Juillet, 2010
Keywords: singularity.

102

Douady D.
Contribution à la modélisation des robots parallèles: conception d'un nouveau robot à 3 liaisons et six degrés de liberté.
Ph.D. Thesis, Université Paris VI, Paris, 9 Décembre 1991
Keywords: mechanical architecture,6 dof robot,kinematics,singularity,design.

103

Downing D.M., Samuel A.E., and Hunt K.H.
Identification of the special configurations of the octahedral manipulators using the pure condition.
Int. J. of Robotics Research, 21(2):147-159, Février 2002
Keywords: singularity.

104

Duffy J., Crane C., Knight B., and Rooney J.
An investigation of a special motion of an octahedron manipulator using screw theory.
In ARK, pages 307-316, Strobl, 29 Juin-4 Juillet, 1998
Keywords: singularity.

105

Ebert-Uphoff I., Lee J-K., and Lipkin H.
Characteristic tetrahedron of wrench singularities for parallel manipulators with three legs.
Proc. Instn Mech Engrs, Part C: J. Mechanical Engineering Science, 216(1):81-93, Janvier 2002
Keywords: singularity.

106

Ferrand A. and Renaud M.
Analyse des points morts d'une plate-forme dite de Stewart.
Mechanism and Machine Theory, 33(4):409-424, Mai 1998
Keywords: forward kinematics,singularity.

107

Fichter E.F. and McDowell E.D.
A novel design for a robot arm.
In Proc. Int. Computer Technical Conf., pages 250-255, San Francisco, 1980.
Keywords: mechanical architecture,workspace,singularity.

108

Fichter E.F.
Kinematics of a parallel connection manipulator.
In ASME Design Engineering Technology Conference, pages 1-8, Cambridge (MA), 7-12 Octobre 1984
Keywords: mechanical architecture,kinematics,singularity.

109

Fioretti A.
Implementation-oriented kinematics analysis of a 6 dof parallel robotic platform.
In 4th IFAC Symp. on Robot Control, Syroco, pages 43-50, Capri, 19-21 Septembre 1994
Keywords: mechanical architecture,6 dof robot,kinematics,jacobian,dynamics,singularity.

110

Firmani F. and Podhorodeski R.P.
Force unconstrained poses for a redundantly-actuated planar parallel manipulator.
Mechanism and Machine Theory, 39(5):459-476, Mai 2004
Keywords: planar robot,singularity,redundant robot.

111

Firmani F. and Podorodeski R-P.
Singularity loci of revolute-jointed planar parallel manipulators with redundant actuated branches.
In 12th IFToMM World Congress on the Theory of Machines and Mechanisms, Besancon, 18-21 Juin 2007
Keywords: redundant robot,singularity,planar robot.

112

Firmani F. and Podhorodeski R.P.
Singularity analysis of planar parallel manipulators based on forward kinematic solutions.
Mechanism and Machine Theory, 44(8):1386-1399, 2009.
Keywords: planar robot,singularity.

113

Funabashi H. and Takeda Y.
Determination of singular points and their vicinity in parallel manipulators based on the transmission index.
In 9th IFToMM World Congress on the Theory of Machines and Mechanisms, pages 1977-1981, Milan, 30 Août-2 Septembre, 1995
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Gallardo-Alvarado J., Rico-Martínez J.M., and Alici G.
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Ghosal A. and Ravani B.
A differential-geometric analysis of singularities of point trajectories of serial and parallel manipulators.
ASME J. of Mechanical Design, 123(1):80-89, Mars 2001
Keywords: singularity.

116

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Representations of constraints imposed by kinematic chains of parallel mechanisms.
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Keywords: structural synthesis,singularity.

118

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Constraint singularities and the structural parameters of parallel robots.
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119

Gosselin C. and Angeles J.
The optimum kinematic design of a spherical three-degree-of-freedom parallel manipulator.
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Keywords: spherical robot,workspace,isotropy,singularity,design,3 dof robot,wrist.

120

Gosselin C. and Angeles J.
Singularity analysis of closed-loop kinematic chains.
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Gosselin C. and Sefrioui J.
Determination of the singular loci of spherical 3 d.o.f parallel manipulators.
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122

Gosselin C., Perreault T., and Vaillancourt C.
Smaps: a computer-aided design package for the analysis and optimization of a spherical parallel manipulators.
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Keywords: spherical robot,optimal design,mechanical architecture,CAD,workspace,singularity,design,3 dof robot,wrist,simulation.

123

Gosselin C. and Wang J.
Singularity loci of planar parallel manipulator.
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124

Gosselin C.
Kinematische und statische analysis eines ebenen parallelen manipulators mit dem freiheitgrad zwei.
Mechanism and Machine Theory, 31(2):149-160, Février 1996
Keywords: mechanical architecture,2 dof robot,singularity,kinematics.

125

Gosselin C. and Wang J.
Singularity loci of planar parallel manipulators with revolute actuators.
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126

Guozhen W.
Forward displacement analysis of a class of the 6-6 Stewart platforms.
In 22nd Biennial Mechanisms Conf., volume DE-45, pages 113-117, Scottsdale, 13-16 Septembre 1992
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127

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128

Hao F. and McCarthy J.M.
Conditions for line-based singularities in spatial platform manipulators.
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129

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Direct motion of a parallel-linkage robot through the jacobian.
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Keywords: singularity,trajectory verification.

130

Heerah I. and others .
Workspace-based architecture selection of a 3-degree-of-freedom planar parallel manipulator.
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Keywords: planar robot,workspace,singularity.

131

Heerah I. and others .
Architecture selection and singularity analysis of a three-degree-of-freedom planar parallel manipulator.
J. of Robotic Systems, 37(4):355-374, Août 2003
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132

Hesselbach J. and others .
Workspace optimized parallel robot for placing tools.
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Keywords: control,singularity,2 dof robot,singular motion.

133

Hesselbach J. and others .
Connecting assembly modes for workspace enlargement.
In ARK, pages 347-356, Caldes de Malavalla, 29 Juin-2 Juillet, 2002
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134

Hesselbach J. and others .
Parallel robot specific control fonctionalities.
In 2nd Int. Colloquium, Collaborative Research Centre 562, pages 93-108, Braunschweig, 10-11 Mai 2005
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135

Huang Z. and others .
Kinematic principle and geometrical condition of general-linear-complex special configuration of parallel manipulators.
Mechanism and Machine Theory, 34(8):1171-1186, Novembre 1999
Keywords: singularity,singular motion.

136

Huang Z., Wang J., and Fang Y.F.
Analysis of instantaneous motions of deficient-rank 3-RPS parallel manipulators.
Mechanism and Machine Theory, 37(2):229-240, Février 2002
Keywords: singular motion,3 dof robot.

137

Huang Z. and Chen L.H.
Singularity principle and distribution of 6-3 Stewart parallel manipulator.
In ASME Design Engineering Technical Conference, Montréal, 29 Septembre-2 Octobre, 2002
Keywords: singularity.

138

Huang Z., Li S.H., and Zuo R.G.
Feasible instantaneous motions and kinematic characteristics of a special 3-DOF 3-UPU parallel manipulator.
Mechanism and Machine Theory, 39(9):959-970, 2004.
Keywords: 3 dof robot,singularity.

139

Huang Z. and Cao Y.
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Int. J. of Robotics Research, 24(8):675-685, Août 2005
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140

Huang Z. and others .
Structure and property of the singularity loci of the 3-6 Stewart-Gough platform for general orientations.
Robotica, 24(1):75-84, Janvier 2006
Keywords: singularity.

141

Hubert J. and Merlet J-P.
Singularity analysis through static analysis.
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142

Hubert J. and Merlet J-P.
Static of parallel manipulators and closeness to singularity.
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143

Hubert J.
Singularités et manipulateurs parallèles.
Ph.D. Thesis, Université de Nice, Nice, 28 Septembre 2009
Keywords: singularity.

144

Husty M.L. and Zsombor-Murray P.
A special type of singular Stewart-Gough platform.
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Keywords: mechanical architecture,singularity,singular robot.

145

Husty M.L. and Karger A.
Self-motions of Griffis-Duffy type parallel manipulators.
In IEEE Int. Conf. on Robotics and Automation, pages 7-12, San Francisco, 24-28 Avril 2000
Keywords: singularity,mechanical architecture.

146

Husty M.L. and Karger A.
Architecture singular parallel manipulators and their self-motions.
In ARK, pages 355-364, Piran, 25-29 Juin 2000
Keywords: singularity,singular robot.

147

Husty M.L. and Eberharter J.
Kinematic analysis of the Hexapod telescope.
In F.C. Park C.C. Iurascu, editor, Computational Kinematics, pages 269-278. EJCK, 20-22 Mai 2001
Keywords: forward kinematics,singularity.

148

Hwang T-S., Lin C-L., and Tsai R-C.
Analysis and design for a parallel manipulator using linear motors.
Int. J. of Robotics and Automation, 18(3):97-109, 2003.
Keywords: mechanical architecture,6 dof robot,optimal design,workspace,singularity.

149

Ider S.K.
Actuation of parallel manipulators in the presence of drive singularities.
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Keywords: singularity,dynamics.

150

Ider S.K.
Inverse dynamics of parallel manipulators in the presence of drive singularities.
Mechanism and Machine Theory, 40(1):33-34, Janvier 2005
Keywords: singularity,dynamics.

151

Innocenti C. and Parenti-Castelli V.
Singularity-free evolution from one configuration to another in serial and fully-parallel manipulators.
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152

Innocenti C. and Parenti-Castelli V.
Singularity-free evolution from one configuration to another in serial and fully-parallel manipulators.
ASME J. of Mechanical Design, 120(1):73-79, Mars 1998
Keywords: singularity,forward kinematics.

153

Ji Z.
Study of planer three-degree-of-freedom 2-RRR parallel manipulators.
Mechanism and Machine Theory, 38(5):409-416, Mai 2003
Keywords: planar robot,kinematics,singularity.

154

Jiang Q. and Gosselin C.M.
The maximal singularity-free workspace of the Gough-Stewart platform for a given orientation.
ASME J. of Mechanical Design, 130(11):112304-1/8, Novembre 2008
Keywords: workspace,singularity.

155

Jiang Q. and Gosselin C.M.
Singularity equations of Gough-Stewart platforms using a minimal set of geometrix parameters.
ASME J. of Mechanical Design, 130(11):112303-1/7, Novembre 2008
Keywords: singularity.

156

Jiang Q. and Gosselin C.M.
Determination of the maximal singularity-free orientation workspace for the Gough-Stewart platform.
Mechanism and Machine Theory, 44(6):1281-1293, Juin 2009
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157

Jui C.K.K. and Sun Q.
Path trackability and verification for parallel manipulators.
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158

Jui C.K.K. and Sun Q.
Path tracking of parallel manipulators in the presence of force singularity.
ASME J. of Dynamic Systems, Measurement and Control, 127(4):550-563, Décembre 2005
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159

Kanaan D., Wenger P., and Chablat D.
Singularity analysis of limited-dof parallel manipulators using Grassmann-Cayley algebra.
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160

Kapur P., Ranganath R., and Nataraju B.S.
Analysis of Stewart platform with flexural joints at singular configurations.
In 12th IFToMM World Congress on the Theory of Machines and Mechanisms, Besancon, 18-21 Juin 2007
Keywords: redundant robot,singularity,singular motion,passive joints.

161

Karger A. and Husty M.
On self-motions of a class of parallel manipulators.
In ARK, pages 339-348, Portoroz-Bernadin, 22-26 Juin 1996
Keywords: singularity,mechanical architecture,singular robot.

162

Karger A.
Architecture singular parallel manipulators.
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Keywords: singularity,singular robot.

163

Karger A. and Husty M.
Classification of all self-motion of the original Stewart-Gough platform.
Computer-aided design, 30(3):205-215, 1998.
Keywords: singularity,singular robot.

164

Karger A.
Classification of 5R closed kinematic chains with self mobility.
Mechanism and Machine Theory, 33(1-2):213-222, Janvier 1998
Keywords: singularity,planar robot,2 dof robot.

165

Karger A.
Singularities and self-motions of equiform platforms.
Mechanism and Machine Theory, 36(8):801-815, Août 2001
Keywords: singularity,singular robot.

166

Karger A.
Singularities and self-motions of a special type of platforms.
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167

Karger A.
Architecture singular planar parallel manipulators.
Mechanism and Machine Theory, 38(11):1149-1164, Novembre 2003
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168

Karger A.
Stewart-Gough platforms with simple singularity surface.
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169

Karger A.
Architecturally singular non-planar parallel manipulators.
Mechanism and Machine Theory, 43(3):335-346, Mars 2008
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170

Karger A.
Self-motions of 6-3 Stewart-Gough type parallel manipulators.
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171

Kassner D.J.
Kinematics analysis of a planar three-degree-of-freedom platform-type robot manipulator.
Master's thesis, Purdue University, Purdue, Décembre 1990
Keywords: planar robot,kinematics,singularity,workspace,maximal workspace.

172

Kim D., W. Chung, and Youm Y.
Analytic singularity expression for 6-dof Stewart platform-type parallel manipulators.
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Kim D. and W. Chung.
Analytic singularity equation and analysis of six-dof parallel manipulators using local structurization method.
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Kim J. and others .
Eclipse II: a new parallel mechanism enabling continuous 360-degree spinning plus three-axis translational motions.
IEEE Trans. on Robotics and Automation, 18(3):367-373, Juin 2002
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Kim W.K. and others .
Singularity-free load distribution for a 6-dof parallel haptic device.
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A parallel x-y manipulator with actuation redundancy for high speed and active stiffness applications.
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177

Koekebakker S.H.
Indirect position measurement and singularities in a Stewart platform with an application to model-based control.
Selected topics in Identification, Modelling and control, 10:27-37, 1997.
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178

Kokkinis T. and Millies P.
A parallel robot-arm regional structure with actuational redundancy.
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179

Kong X. and Gosselin C.M.
Generation of architecturally singular 6-SPS parallel manipulators with linearly related planar platforms.
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180

Kong X. and Gosselin C.M.
Uncertainty singularity analysis of parallel manipulators based on the instability analysis of structures.
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Kong X.
Forward kinematics and singularity analysis of a 3-$\underline{R}$PP planar parallel manipulator.
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Kool P.
Analysis of robot singularities with exterior algebra.
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New interval-based approach to determine the guaranteed singularity-free workspace of parallel robots.
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Kotlarski J. and others .
Optimization strategies for additional actuators of kinematically redundant parallel kinematic machines.
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Kumar S.G., Nagarajan T., and Srinivasa Y.G.
Characterization of reconfigurable Stewart platform for contour generation.
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Kumar V.
Instantaneous kinematics of parallel-chain robotic mechanisms.
ASME J. of Mechanical Design, 114(3):349-358, Septembre 1992
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187

Landsberger S.E. and Sheridan T.B.
A minimal, minimal linkage: the tension-compression parallel link manipulator.
In IMACS/SICE Int. Symp. on Robotics, Mechatronics, and Manufacturing Systems, pages 493-500, Kobe, 16-20 Septembre 1992
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188

Lang J., Mick S., and Röschel O.
The rigidity rate of positions of Stewart-Gough platforms.
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Last P. and others .
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Lebesgue H.
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L'enseignement mathématique, (13):150-160, 1967.
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Lee C-C. and Hervè J.M.
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Lee J., Duffy J., and Keler M.
The optimum quality index for the stability of in-parallel planar platform devices.
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195

Lee M.K. and Park K.W.
Kinematics and dynamics analysis of a double parallel manipulator for enlarging workspace and avoiding singularities.
IEEE Trans. on Robotics and Automation, 15(6):1024-1034, Décembre 1999
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196

Lee S. and Kim S.
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198

Li H., Gosselin C.M., and Richard M.J.
Determination of maximal singularity-free zones in the workkspace of planar three-degree-of-freedom parallel mechanisms.
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Li H., Gosselin C.M., Richard M.J., and Mayer St-Onge B.
Analytic form of the six-dimensional singularity locus of the general Gough-Stewart platform.
ASME J. of Mechanical Design, 128(1):279-287, 2006.
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200

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201

Li Y. and Xu Q.
Kinematic analyis and design of a new 3-dof translational parallel manipulator.
ASME J. of Mechanical Design, 128(4):729-737, Juillet 2006
Keywords: 3 dof robot,kinematics,singularity,workspace.

202

Li Y. and Xu Q.
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203

Liu C-H. and Cheng S.
Direct singular position of 3RPS parallel manipulator.
ASME J. of Mechanical Design, 126(6):1006-1016, Novembre 2004
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204

Liu G., Lou Y., and Li Z.
Singularities of parallel manipulators: a geometric treatment.
IEEE Trans. on Robotics and Automation, 19(4):579-594, Août 2003
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205

Liu X-J., Wang J., Gao F., and Wang L-P.
On the analysis of a new spatial three-degree-of-freedom parallel manipulator.
IEEE Trans. on Robotics and Automation, 17(6):959-968, Décembre 2001
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206

Liu X-J., Kim J., and Oh K-K.
Singularity analysis of the HALF parallel manipulator with revolute actuators.
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207

Liu X-J. and others .
HANA: a novel spatial parallel manipulator with one rotational and two translational degree of freedom.
Robotica, 23(2):257-270, Mars 2005
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Liu K., Lewis F., Lebret G., and Taylor D.
The singularities and dynamics of a Stewart platform manipulator.
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Lu Y. and Hu B.
Determining singularity of parallel manipuators with n linear active legs by using CAD variation geometry.
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210

Lu Y., Li S-Y., and Shi Y.
Determining singularities of some 3-dof parallel manipulators with linear active legs by 3x3 translational/3x3 rotational jacobian matrices.
Int. J. of Robotics and Automation, 25(4):335-343, 2010.
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