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    145 références sur: Singularités

    Bibliography

    1
    Ma O. and Angeles J.
    Architecture singularities of platform manipulator.
    In IEEE Int. Conf. on Robotics and Automation, pages 1542-1547, Sacramento, 11-14 Avril 1991
    Keywords: singularity.

    2
    Macho E. and others .
    Singularity free change of assembly mode in parallel manipulators. Application to the $3-R\underline{P}R$ planar platform.
    In 12th IFToMM World Congress on the Theory of Machines and Mechanisms, Besancon, 18-21 Juin 2007
    Keywords: singularity,planar robot,forward kinematics.

    3
    Macho E. and others .
    Obtaining configuration space and singularity maps for parallel manipulators.
    Mechanism and Machine Theory, 44(11):2110-2125, Novembre 2009
    Keywords: workspace,jacobian,singularity.

    4
    Maass J. and others .
    Control strategies for enlarging a spatial parallel robot's workspace by change of configuration.
    In 5th Chemnitzer Parallelkinematik Seminar, pages 515-530, Chemnitz, 25-26 Avril 2006
    Keywords: control,singularity,workspace,3 dof robot.

    5
    Matone R. and Roth B.
    In-parallel manipulators: a framework on how to model actuation scheme and a study of their effects on singular postures.
    ASME J. of Mechanical Design, 121(1):2-8, Mars 1999
    Keywords: singularity.

    6
    Mayer St-Onge B. and Gosselin C.
    Singularity analysis and representation of spatial six-dof parallel manipulators.
    In ARK, pages 389-398, Portoroz-Bernadin, 22-26 Juin 1996
    Keywords: singularity.

    7
    Mayer St-Onge B. and Gosselin C.M.
    Singularity analysis and representation of the general Gough-Stewart platform.
    Int. J. of Robotics Research, 19(3):271-288, Mars 2000
    Keywords: singularity.

    8
    Mbarek T., Lonij G., and Corves B.
    Singularity analysis of a fully parallel manipulator with five-degrees-of-freedom based on Grassmann line geometry.
    In 12th IFToMM World Congress on the Theory of Machines and Mechanisms, Besancon, 18-21 Juin 2007
    Keywords: 5 dof robot,singularity,grassmann geometry.

    9
    McAree P.R. and Daniel R.W.
    An explanation of never-special assembly changing motions of the 3-3 parallel manipulators.
    Int. J. of Robotics Research, 18(6):556-574, Juin 1999
    Keywords: singularity,singular motion.

    10
    Merlet J-P.
    Kinematics, singular configurations and compliance of parallel manipulators.
    In ICAR, pages 125-136, Versailles, 13-15 Octobre 1987
    Keywords: kinematics,singularity,statics.

    11
    Merlet J-P.
    Parallel manipulators, Part 2, Singular Configurations and Grassmann geometry.
    Research Report 791, INRIA, Février 1988
    Keywords: singularity,grassmann geometry.

    12
    Merlet J-P.
    Singular configurations of parallel manipulators and Grassmann geometry.
    In Boissonnat J-D. and J-P.Laumond , editors, Geometry and Robotics, volume LNCS 391, pages 194-212. Springer-Verlag, 1989.
    Keywords: singularity,grassmann geometry.

    13
    Merlet J-P.
    Singular configurations of parallel manipulators and Grassmann geometry.
    Int. J. of Robotics Research, 8(5):45-56, Octobre 1989
    Keywords: singularity,grassmann geometry.

    14
    Merlet J-P.
    Les Robots parallèles.
    Hermès, Paris, 1990.

    15
    Merlet J-P.
    Symbolic computation for the determination of the minimal direct kinematics polynomial and the singular configurations of parallel manipulators.
    In ARK, Linz, 10-12 Septembre 1990
    Keywords: singularity,forward kinematics.

    16
    Merlet J-P.
    On the infinitesimal motion of a parallel manipulator in singular configurations.
    In IEEE Int. Conf. on Robotics and Automation, pages 320-325, Nice, 12-14 Mai 1992
    Keywords: singular motion,singularity.

    17
    Merlet J-P.
    Geometry and Kinematic singularities of closed-loop manipulators.
    J. of Laboratory Robotic and Automation, 4(1):85-96, 1992.
    Keywords: singularity.

    18
    Merlet J-P.
    Les robots parallèles, 21 Juin 1993
    Habilitation à diriger les recherches, UNSA, Nice.

    19
    Merlet J-P.
    Les Robots parallèles.
    Hermès, Paris, 1997.

    20
    Merlet J-P.
    Determination of the presence of singularities in a workspace volume of a parallel manipulator.
    In NATO-ASI,Computational methods in mechanisms, Sts. Konstantin and Elena Resort, 16-28 Juin 1997
    Keywords: singularity.

    21
    Merlet J-P.
    Determination of the presence of singularities in 6D workspace of a Gough parallel manipulator.
    In ARK, pages 39-48, Strobl, 29 Juin-4 Juillet, 1998
    Keywords: singularity.

    22
    Merlet J-P.
    On the separability of the solutions of the direct kinematics of a special class of planar 3-RPR parallel manipulator.
    In 26th ASME Biennial Mechanisms and Robotics Conference, Baltimore, 10-13 Septembre 2000
    Keywords: planar robot,forward kinematics,singularity.

    23
    Merlet J-P. and Donelan P.
    On the regularity of the inverse jacobian of parallel robot.
    In ARK, pages 41-48, Ljubljana, 26-29 Juin 2006
    Keywords: jacobian,singularity.

    24
    Merlet J-P.
    A formal-numerical approach for robust in-workspace singularity detection.
    IEEE Trans. on Robotics, 23(3):393-402, Juin 2007
    Keywords: singularity.

    25
    Mianowski K.
    Singularity analysis of parallel manipulator POLMAN 3x2 with six degrees of freedom.
    In 12th IFToMM World Congress on the Theory of Machines and Mechanisms, Besancon, 18-21 Juin 2007
    Keywords: mechanical architecture,6 dof robot,decoupled robot,singularity.

    26
    Mick S. and Röschel O.
    Geometry & architecturally shaky platform.
    In ARK, pages 455-464, Strobl, 29 Juin-4 Juillet, 1998
    Keywords: singularity,singular robot.

    27
    Monsarrat B. and Gosselin C.M.
    Singularity analysis of a three-leg six-degree-of-freedom parallel platform mechanism based on Grassman line geometry.
    Int. J. of Robotics Research, 20(4):312-328, Avril 2001
    Keywords: singularity,grassmann geometry.

    28
    Moroz G. and others .
    Cusp points in the parameter space of $R\underline{P}R-2P\underline{R}R$ parallel manipulators.
    In 3rd European Conf. on Mechanism Science (Eucomes), Cluj-Napoca, 14-17 Septembre 2010
    Keywords: singularity.

    29
    Mouly N. and Merlet J-P.
    Singular configurations and direct kinematics of a new parallel manipulator.
    In IEEE Int. Conf. on Robotics and Automation, pages 338-343, Nice, 12-14 Mai 1992
    Keywords: singularity,actuators.

    30
    Nawratil G.
    Main theorem on Schönfliess-singular planar Stewart Gough platforms.
    In ARK, pages 107-116, Piran, 28 Juin-1 Juillet, 2010
    Keywords: singularity.

    31
    Nawratil G.
    Special cases of Schönflies-singular planar Stewart Gough platforms.
    In 3rd European Conf. on Mechanism Science (Eucomes), Cluj-Napoca, 14-17 Septembre 2010
    Keywords: singularity.

    32
    Nawratil G.
    A new approach to the classification of architecturally singular parallel manipulators.
    In Computational Kinematics, Duisburg, 6-8 Mai 2009
    Keywords: singularity,singular robot.

    33
    Nawratil G.
    All planar parallel manipulators with cylindrical singularity surface.
    Mechanism and Machine Theory, 44(12):2179-2186, Décembre 2009
    Keywords: singularity,6 dof robot.

    34
    Nenchev D.N. and Uchiyama M.
    Singularity-consistent path planning and control of parallel robot motion through instantaneous-self-motion type.
    In IEEE Int. Conf. on Robotics and Automation, pages 1864-1870, Minneapolis, 24-26 Avril 1996
    Keywords: singularity,trajectory planning,control.

    35
    Nenchev D.N., Bhattacharya S., and Uchiyama M.
    Dynamic analysis of parallel manipulator under the singularity-consistent parameterization.
    Robotica, 15(4):375-384, Juillet- Août, 1997
    Keywords: singularity,dynamics.

    36
    Nenchev D.N. and Uchiyama M.
    Para-arm: a five-bar parallel manipulator with singularity-perturbed design.
    Mechanism and Machine Theory, 33(5):453-462, Juillet 1998
    Keywords: singularity,mechanical architecture,planar robot.

    37
    Notash L. and Podhorodeski R.P.
    Forward displacement analysis of uncertainty configurations of parallel manipulators with a redundant branch.
    J. of Robotic Systems, 13(9):587-601, Septembre 1996
    Keywords: singularity,redundant robot,forward kinematics with redundant sensors.

    38
    Notash L.
    Uncertainty configurations of parallel manipulators.
    Mechanism and Machine Theory, 33(1/2):123-138, Janvier 1998
    Keywords: singularity.

    39
    O'Brien J.F. and Wen J.T.
    On kinematic instability of parallel robots.
    In F.C. Park C.C. Iurascu, editor, Computational Kinematics, pages 279-290. EJCK, 20-22 Mai 2001
    Keywords: singularity.

    40
    O'Brien J.F. and Wen J.T.
    Kinematic control of parallel robots in the presence of unstable singularities.
    In IEEE Int. Conf. on Robotics and Automation, pages 3154-3159, Seoul, 23-25 Mai 2001
    Keywords: singularity,control,trajectory planning.

    41
    O'Brien J.F., Jafari F., and Wen J.T.
    Self-motion in spatial parallel mechanisms with more than three legs.
    In IEEE Int. Conf. on Robotics and Automation, pages 966-971, Barcelona, 19-22 Avril 2005
    Keywords: singularity.

    42
    Ottaviano E., Gosselin C.M., and Ceccarelli M.
    Singularity analysis of CaPaMan: a three-degree of freedom spatial parallel manipulator.
    In IEEE Int. Conf. on Robotics and Automation, pages 1295-1300, Seoul, 23-25 Mai 2001
    Keywords: 3 dof robot,singularity.

    43
    Ottaviano E., Ceccarelli M., and Thomas F.
    Singularity configurations of a 6-wire parallel architecture.
    In RAAD, Cassino, 7-10 Mai 2003
    Keywords: singularity,wire robot.

    44
    Ottaviano E. and Ceccarelli M.
    Numerical and experimental characterization of singularity of a six-wire parallel architecture.
    Robotica, 25(3):315-324, Mai 2007
    Keywords: singularity,wire robot.

    45
    Ouerfelli M. and Kumar V.
    Optimization of a spherical five bar parallel drive linkage.
    ASME J. of Mechanical Design, 116(1):166-173, Mars 1994
    Keywords: mechanical architecture,3 dof robot,workspace,singularity,dynamics,kinematics.

    46
    Paganelli D.
    Avoiding parallel singularities of 3UPS and 3UPU spherical wrists.
    In IEEE Int. Conf. on Robotics and Automation, pages 1201-1206, Roma, 10-14 Avril 2007
    Keywords: 3 dof robot,singularity.

    47
    Pasqui-Boutard V.
    Méthode systématique pour la modélisation et l'analyse cinématique des mécanismes complexes.
    Ph.D. Thesis, Université Pierre et Marie Curie, Paris, 29 Août 1994
    Keywords: kinematics,singularity,workspace,mechanism theory.

    48
    Pastorelli S. and Batterezzato A.
    Singularity analysis of a 3 degrees-of-freedom parallel manipulator.
    In Computational Kinematics, pages 331-340, Duisburg, 6-8 Mai 2009
    Keywords: 3 dof robot,singularity.

    49
    Patarinski S.P. and Uchiyama M.
    Position/orientation decoupled parallel manipulator.
    In ICAR, pages 153-158, Tokyo, 1-2 Novembre 1993
    Keywords: mechanical architecture,decoupled robot,singularity,jacobian.

    50
    Pendar H. and others .
    Singularity analysis of a 3 dof parallel manipulator using infinite constraint plane method.
    J. of Intelligent and Robotic Systems, 53(1):21-34, Septembre 2008
    Keywords: singularity.

    51
    Perng M-H. and Hsiao L.
    Inverse kinematics solutions for a fully parallel robot with singularity robustness.
    Int. J. of Robotics Research, 18(6):575-583, Juin 1999
    Keywords: control,singularity,trajectory planning.

    52
    Pernkopf F.
    Workspace analysis of Stewart-Gough platforms.
    Ph.D. Thesis, Baufakultät, University of Innsbruck, 11 Septembre 2003
    Keywords: workspace,singularity.

    53
    Podhorodeski R. and Pittens K.H.
    A class of hybrid-chain manipulators based on kinematically simple branches.
    In 22nd Biennial Mechanisms Conf., pages 59-64, Scottsdale, 13-16 Septembre 1992
    Keywords: mechanical architecture,forward kinematics,singularity.

    54
    Pottmann H., Peternell M., and Ravani B.
    Approximation in line space. Applications in robot kinematics.
    In ARK, pages 403-412, Strobl, 29 Juin-4 Juillet, 1998
    Keywords: singularity,grassmann geometry.

    55
    Ranganath R. and others .
    A force-torque sensor based on a Stewart platform in a near-singular configuration.
    Mechanism and Machine Theory, 39(9):971-998, Septembre 2004
    Keywords: force sensor,singularity,hardware.

    56
    Romdhane L., Affi Z., and Fayet M.
    Design and singularity analysis of a 3-translational-dof in-parallel manipulator.
    ASME J. of Mechanical Design, 124(3):419-426, Septembre 2002
    Keywords: 3 dof robot,mechanical architecture,singularity.

    57
    Röschel O. and Mick S.
    Characterisation of architecturally shaky platforms.
    In ARK, pages 465-474, Strobl, 29 Juin-4 Juillet, 1998
    Keywords: singularity,singular robot.

    58
    Rubio A., Avello A., and Florez J.
    On the use of virtual springs to avoid singularities and workspace boundaries in force-feedback teleoperation.
    In IEEE Int. Conf. on Robotics and Automation, pages 2690-2695, San Francisco, 24-28 Avril 2000
    Keywords: force feedback,control,applications,singularity,workspace,haptic device.

    59
    Ryu R.J. and others .
    Eclipse: an overactuated parallel mechanism for rapid machining.
    In 12th RoManSy, pages 79-86, Paris, 6-9 Juillet 1998
    Keywords: mechanical architecture,applications,machine-tool,redundant robot,workspace,singularity.

    60
    Saltarén R. and others .
    Performance evaluation of spherical parallel platforms for humanoid robots.
    Robotica, 25(3):257-267, Mai 2007
    Keywords: spherical robot,wrist,workspace,singularity,performance analysis.

    61
    Sarkissyan Y.L. and Parikyan T.F.
    Analysis of special configurations of parallel topology manipulator.
    In 8th RoManSy, pages 156-163, Cracovie, 2-6 Juillet 1990
    Keywords: singularity.

    62
    Sefrioui J. and Gosselin C.
    Singularity analysis and representation of planar parallel manipulators.
    Robotics and Autonomous Systems, 10(4):209-224, 1992.
    Keywords: singularity,planar robot.

    63
    Sefrioui J.
    Problème géométrique direct et lieux de singularité des manipulateurs parallèles.
    Ph.D. Thesis, Université Laval, Québec, 2 Novembre 1992
    Keywords: forward kinematics,singularity.

    64
    Sefrioui J. and Gosselin C.
    Étude et représentation des lieux de singularités des manipulateurs parallèles sphériques à trois degrés de liberté avec actionneurs prismatiques.
    Mechanism and Machine Theory, 29(4):559-579, Mai 1994
    Keywords: singularity,3 dof robot.

    65
    Sefrioui J. and Gosselin C.M.
    On the quadratic nature of the singularity curves of planar three-degree-of-freedom parallel manipulators.
    Mechanism and Machine Theory, 30(4):533-551, Mai 1995
    Keywords: singularity,planar robot.

    66
    Sen S., Dasgupta B., and Mallik A.K.
    Variational approach for singularity-path planning of parallel manipulators.
    Mechanism and Machine Theory, 38(11):1165-1183, Novembre 2003
    Keywords: singularity,trajectory planning.

    67
    Sen D. and Mruthyunjaya T.S.
    A centro-based characterization of singularities in the workspace of planar closed-loop manipulators.
    Mechanism and Machine Theory, 33(8):1091-1104, Novembre 1998
    Keywords: singularity,planar robot,workspace.

    68
    Shaw D. and Chen Y-S.
    Cutting path generation of the Stewart platform-based milling machine using an end-mill.
    Int. J. Prod. Res., 39(7):1367-1383, 2001.
    Keywords: machine-tool,singularity,trajectory planning.

    69
    Shi X. and Fenton R.G.
    Structural instabilities in platform-type parallel manipulators due to singular configurations.
    In 22nd Biennial Mechanisms Conf., volume DE-45, pages 347-352, Scottsdale, 13-16 Septembre 1992
    Keywords: singularity.

    70
    Shim J.H., Kwon D.S., and Cho H.S.
    Kinematic analysis and design of a six D.O.F. 3-prps in-parallel manipulator.
    Robotica, 17(3):269-281, Mai 1999
    Keywords: mechanical architecture,kinematics,hardware,workspace,6 dof robot,singularity.

    71
    Siciliano B.
    The Tricept robot: inverse kinematics, manipulability analysis and closed-loop direct kinematics algorithm.
    Robotica, 17(4):437-445, Juillet 1999
    Keywords: 3 dof robot,kinematics,singularity.

    72
    Simaan N. and Shoham M.
    Singularity analysis of a class of composite serial in-parallel robots.
    IEEE Trans. on Robotics and Automation, 17(3):301-311, Juin 2001
    Keywords: singularity.

    73
    Sokolov A. and Xirouchakis P.
    Singularity analyis of a 3-dof parallel manipulator with R-P-S joint structure.
    Robotica, 24(1):131-142, Janvier 2006
    Keywords: singularity,3 dof robot.

    74
    Staffetti E., Bruyninckx H., and De Schutter J.
    On the invariance of manipulability indices.
    In ARK, pages 57-66, Caldes de Malavalla, 29 Juin-2 Juillet, 2002
    Keywords: performance analysis,singularity.

    75
    Stoughton R. and Kokkinis T.
    Some properties of a new kinematic structure for robot manipulators.
    In ASME Design Automation Conf., pages 73-79, Boston, 28 Juin 1987
    Keywords: mechanical architecture,optimal design,singularity,3 dof robot.

    76
    Su X.S. and others .
    Singularity analysis of a 6 DOF Stewart platform using genetic algorithm.
    In Int. Conf. on Systems, Man and Cybernetics, volume 7, Hammamet, 6-9 Octobre 2002
    Keywords: singularity.

    77
    Su X.S. and others .
    Singularity analysis of fine-tuning Stewart platform for large radio telescope using genetic algorithm.
    Mechatronics, 13(5):413-425, Juin 2003
    Keywords: applications,singularity.

    78
    Sugimoto K., Duffy J., and Hunt K.H.
    Special configurations of spatial mechanisms and robot arms.
    Mechanism and Machine Theory, 17(2):119-132, 1982.
    Keywords: singularity.

    79
    Tadokoro S.
    Control of parallel mechanisms.
    Advanced Robotics, 8(6):559-571, Décembre 1994
    Keywords: redundant robot,control,stiffness,singularity,dynamics.

    80
    Tahmasebi F. and Tsai L.-W.
    Workspace and singularity analysis of a novel six-dof parallel minimanipulator.
    J. of Applied Mechanisms and Robotics, 1(2):31-40, Mars 1994
    Keywords: mechanical architecture,6 dof robot,workspace,singularity.

    81
    Takeda Y.
    Kinematic analysis of parallel mechanisms at singular points at which a connecting chain has local mobility.
    In Computational Kinematics, Cassino, 4-6 Mai 2005
    Keywords: singularity,trajectory planning.

    82
    Tanev T.K.
    Singularity analysis of a 4-dof parallel manipulator using geometric algebra.
    In ARK, pages 275-284, Ljubljana, 26-29 Juin 2006
    Keywords: singularity,jacobian,4 dof robot.

    83
    Tanev T.K.
    Geometric algebra approach to singularity of parallel manipulators with limited mobility.
    In ARK, pages 39-48, Batz/mer, 23-26 Juin 2008
    Keywords: singularity,jacobian.

    84
    Theingi and others .
    Management of parallel-manipulator singularities using joint-coupling.
    Advanced Robotics, 21(5-6):583-600, 2007.
    Keywords: singularity,planar robot,hardware.

    85
    Thomas F. and others .
    Uncertainty model and singularities of 3-2-1 wire-based tracking systems.
    In ARK, pages 107-116, Caldes de Malavalla, 29 Juin-2 Juillet, 2002
    Keywords: applications,wire robot,performance analysis,singularity.

    86
    Tsai L-W.
    The jacobian analysis of a parallel manipulator using reciprocal screws.
    In ARK, pages 327-336, Strobl, 29 Juin-4 Juillet, 1998
    Keywords: jacobian,singularity.

    87
    Tsai L-W.
    The jacobian analysis of a parallel manipulator using reciprocal screws.
    Research Report 98-34, ISR, University of Maryland, 1998.
    Keywords: jacobian,singularity.

    88
    Urizar M. and others .
    Researching into non-singular transitions in the joint space.
    In ARK, pages 45-52, Piran, 28 Juin-1 Juillet, 2010
    Keywords: singularity,planar robot,trajectory planning.

    89
    Vertechy R. and Parenti-Castelli V.
    Kinematic analysis of partially decoupled fully parallel manipulators of type 5-5 and 4-5.
    Robotica, 27(2):235-240, Mars 2009
    Keywords: decoupled robot,kinematics,singularity.

    90
    Voglewede P.A. and Ebert-Uphoff I.
    Two viewpoints on the unconstrained motion of parallel manipulators at or near singular configurations.
    In IEEE Int. Conf. on Robotics and Automation, pages 503-510, Washington, 11-15 Mai 2002
    Keywords: singularity,accuracy.

    91
    Voglewede P.A. and Ebert-Uphoff I.
    Measuring "closeness" to singularities for parallel manipulators.
    In IEEE Int. Conf. on Robotics and Automation, pages 4539-4544, New Orleans, 28-30 Avril 2004
    Keywords: singularity.

    92
    Wang Y-X. and Wang Y-M.
    Configuration bifurcations analysis of six degree-of-freedom symmetrical Stewart parallel mechanism.
    ASME J. of Mechanical Design, 127(1):70-77, Janvier 2005
    Keywords: singularity,singular motion.

    93
    Wang Y-X. and Li Y-T.
    Disturbed configuration characteristics of Gough-Stewart parallel manipulators at singular points.
    ASME J. of Mechanical Design, 130(2):022304-1/9, Février 2008
    Keywords: singularity,singular motion.

    94
    Wang Y-X., Li Y-T., and Pan S-X.
    Modified disturbance function method for a 6-6 Gough-Stewart parallel manipulator to traverse the singularity hypersurface.
    ASME J. of Mechanical Design, 130(5):052305-1/8, Mai 2008
    Keywords: singularity,singular motion.

    95
    Wang J. and Gosselin C.M.
    Kinematic analysis and singularity loci of spatial four-degree-of-freedom parallel manipulators using a vector formulation.
    ASME J. of Mechanical Design, 120(4):555-558, Décembre 1998
    Keywords: singularity,4 dof robot,kinetics.

    96
    Wang J. and Gosselin C.M.
    Singularity loci of a special class of spherical 3-dof parallel mechanisms with prismatic actuators.
    ASME J. of Mechanical Design, 126(2):319-326, Mars 2004
    Keywords: singularity,3 dof robot,spherical robot.

    97
    Wang J. and Gosselin C.M.
    Kinematic analysis and design of kinematically redundant parallel mechanisms.
    ASME J. of Mechanical Design, 126(1):109-118, Janvier 2004
    Keywords: redundant robot,planar robot,singularity,3 dof robot,spherical robot,wrist,6 dof robot.

    98
    Wang J. and others .
    Workspace and singularity analysis of a 3-dof planar parallel manipulator with actuation redundancy.
    Robotica, 27(1):51-57, Janvier 2009
    Keywords: 3 dof robot,singularity,redundant robot.

    99
    Wang J. and Liu X-J.
    Analysis of a novel cylindrical 3-dof parallel robot.
    Robotics and Autonomous Systems, 42(1):31-46, Janvier 2003
    Keywords: mechanical architecture,3 dof robot,kinematics,singularity,workspace.

    100
    Wen J.T. and O'Brien J.F.
    Singularities in three-legged platform type parallel mechanisms.
    IEEE Trans. on Robotics and Automation, 19(4):720-726, Août 2003
    Keywords: singularity.

    101
    Wenger P. and Chablat D.
    Workspace and assembly modes in fully parallel manipulators: a descriptive study.
    In ARK, pages 117-126, Strobl, 29 Juin-4 Juillet, 1998
    Keywords: workspace,singularity,planar robot,trajectory planning.

    102
    Wenger P. and Chablat D.
    Kinematic analysis of a new parallel machine-tool: the Orthoglide.
    In ARK, pages 305-314, Piran, 25-29 Juin 2000
    Keywords: 3 dof robot,applications,isotropy,workspace,singularity,machine-tool.

    103
    Wenger P. and Chablat D.
    Kinematic analysis of a class of analytic planar $3-R\underline{P}R$ parallel manipulators.
    In Computational Kinematics, pages 43-50, Duisburg, 6-8 Mai 2009
    Keywords: planar robot,singularity,forward kinematics.

    104
    Wohlhart K.
    Displacement analysis of the general spherical Stewart platform.
    Mechanism and Machine Theory, 29(4):581-589, Mai 1994
    Keywords: kinematics,singularity,decoupled robot.

    105
    Wohlhart K.
    Degrees of shakiness.
    Mechanism and Machine Theory, 34(7):1103-1126, Octobre 1999
    Keywords: accuracy,singularity.

    106
    Wohlhart K.
    Architectural shakiness or architectural mobility of platforms.
    In ARK, pages 365-374, Piran, 25-29 Juin 2000
    Keywords: singularity,singular robot.

    107
    Wohlhart K.
    Mobile 6-SPS parallel manipulators.
    J. of Robotic Systems, 20(8):509-516, 2003.
    Keywords: singularity,singular robot.

    108
    Wolf A., Shoham M., and Park F.C.
    Investigation of singularities and self-motions of the 3-UPU robot.
    In ARK, pages 165-174, Caldes de Malavalla, 29 Juin-2 Juillet, 2002
    Keywords: singularity.

    109
    Wolf A. and Shoham M.
    Investigation of parallel manipulators using linear complex approximation.
    ASME J. of Mechanical Design, 125(3):564-572, Septembre 2003
    Keywords: singularity,statics.

    110
    Wolf A. and others .
    Application of line geometry and linear complex approximation to singularity analysis of the 3-dof CaPaMan manipulator.
    Mechanism and Machine Theory, 39(1):75-95, Janvier 2004
    Keywords: singularity,statics,3 dof robot.

    111
    Wu C. and others .
    New measure for 'closeness' to singularities of parallel robots.
    In IEEE Int. Conf. on Robotics and Automation, pages 5135-5140, Shangai, 9-13 Mai 2011
    Keywords: singularity.

    112
    Wu Y. and Gosselin C.M.
    Kinematic analysis of spatial 3-dof parallelepiped mechanisms.
    In ARK, pages 423-432, Caldes de Malavalla, 29 Juin-2 Juillet, 2002
    Keywords: mechanical architecture,3 dof robot,kinematics,singularity,workspace.

    113
    Wu Y. and others .
    Topology analysis of closed-chain mechanisms.
    In IEEE Int. Conf. on Robotics and Automation, pages 2856-2860, Washington, 11-15 Mai 2002
    Keywords: singularity.

    114
    Xu Y-X., Kohli D., and Weng T-C.
    Direct differential kinematics of hybrid-chain manipulators including singularities and stability analyses.
    In 22nd Biennial Mechanisms Conf., volume DE-45, pages 65-73, Scottsdale, 13-16 Septembre 1992
    Keywords: statics,jacobian,singularity.

    115
    Yang G. and others .
    Singularity analysis of three-legged parallel robots based on passive-joint velocities.
    In IEEE Int. Conf. on Robotics and Automation, pages 2407-2412, Seoul, 21-26 Mai 2001
    Keywords: singularity.

    116
    Yang G., Chen I-M., and Angeles J.
    Singularity analysis of three-legged parallel robots based on passive joint velocities.
    IEEE Trans. on Robotics and Automation, 17(4):413-422, Août 2001
    Keywords: singularity,jacobian.

    117
    Yang G., Chen W., and Chen I-M.
    A geometrical method for the singularity analysis of 3-RRR planar parallel robots with different actuation schemes.
    In IEEE Int. Conf. on Intelligent Robots and Systems (IROS), pages 2055-2060, Lausanne, Octobre 2002
    Keywords: singularity,planar robot.

    118
    Yang P-H., Waldron J.K., and Orin D.E.
    Kinematics of a three degree-of-freedom motion platform for a low cost driving simulator.
    In ARK, pages 89-98, Portoroz-Bernadin, 22-26 Juin 1996
    Keywords: mechanical architecture,applications,kinematics,singularity,workspace.

    119
    Yang Y. and O'Brien J.F.
    A sequential method for the singularity free workspace design of a planar 3-arm parallel robot.
    In IEEE Int. Conf. on Intelligent Robots and Systems (IROS), pages 1977-1982, Nice, France, 22-26 Septembre 2008
    Keywords: singularity,planar robot,workspace,design.

    120
    Yang Y. and O'Brien J.F.
    Finding unmanipulable singularities in parallel mechanisms using jacobian decomposition.
    J. of Intelligent and Robotic Systems, 53(1):3-19, Septembre 2008
    Keywords: singularity,jacobian.

    121
    Yang Y. and O'Brien J.F.
    A geometric approach for the design of singularity-free parallel robots.
    In IEEE Int. Conf. on Robotics and Automation, pages 1801-1806, Kobe, 14-16 Mai 2009
    Keywords: singularity,design.

    122
    Yang Y. and O'Brien J.F.
    A sequential method for the singularity-free workspace design of a three legged parallel robot.
    Mechanism and Machine Theory, 45(11):1674-1706, Novembre 2010
    Keywords: singularity,planar robot,workspace,design.

    123
    Yasuda T. and others .
    Experiments with a parallel robot with singularity-perturbed design.
    In 26th Ann. Conf. of the IEEE Indus. Electronics Society, pages 217-222, Nagoya, 22-28 Octobre 2000
    Keywords: trajectory planning,control,singularity.

    124
    Yi B-J., Freeman R.A., and Tesar D.
    Force and stiffness transmission in redundantly actuated mechanisms: the case for a spherical shoulder mechanism.
    In 22nd Biennial Mechanisms Conf., pages 163-172, Scottsdale, 13-16 Septembre 1992
    Keywords: redundant robot,spherical robot,statics,stiffness,singularity.

    125
    Yiu Y.K. and Li Z.X.
    Modeling configuration space and singularities of parallel mechanisms.
    In Int. Conf. on Mechatronics Technology (ICMT), pages 298-303, Singapore, 6-8 Juin 2001
    Keywords: singularity.

    126
    Zein M., Wenger P., and Chablat D.
    Singular curves and cusp points in the joint space of 3-RPR parallel manipulators.
    In IEEE Int. Conf. on Robotics and Automation, pages 777-782, Orlando, 16-18 Mai 2006
    Keywords: planar robot,singularity.

    127
    Zein M., Wenger P., and Chablat D.
    An algorithm for computing cusp points in the oint space of $3-R\underline{P}R$ parallel manipulators.
    In 1st European Conf. on Mechanism Science (Eucomes), Obergurgl, 21-26 Février 2006
    Keywords: planar robot,singularity.

    128
    Zein M., Wenger P., and Chablat D.
    Singular curves in the joint space and cusp points of 3-R$\underline{P}$R parallel manipulators.
    Robotica, 25(6):712-724, Novembre 2007
    Keywords: planar robot,singularity.

    129
    Zein M., Wenger P., and Chablat D.
    Singularity surfaces and maximal singularity-free boxes in the joint space of planar 3-R$\underline{P}$R parallel manipulators.
    In 12th IFToMM World Congress on the Theory of Machines and Mechanisms, Besancon, 18-21 Juin 2007
    Keywords: planar robot,singularity.

    130
    Zein M., Wenger P., and Chablat D.
    Non-singular assembly-mode changing motions of a $3-R\underline{P}R$ parallel manipulators.
    Mechanism and Machine Theory, 43(4):480-490, Avril 2008
    Keywords: planar robot,singularity.

    131
    Zhang Y., Gong J., and Gao F.
    Singularity elimination of parallel mechanisms by means of redundant actuation.
    In 12th IFToMM World Congress on the Theory of Machines and Mechanisms, Besancon, 18-21 Juin 2007
    Keywords: redundant robot,singularity.

    132
    Zhao J-S. and others .
    Analysis of the singularity of spatial parallel manipulator with terminal constraints.
    Mechanism and Machine Theory, 40(3):275-284, Mars 2005
    Keywords: singularity.

    133
    Zhao J-S. and others .
    Mobility properties of a Schoenflies-type parallel manipulator.
    Robotics and Computer-Integrated Manufacturing, 22(1):124-133, 2006.
    Keywords: 4 dof robot,singularity.

    134
    Zhao X. and Peng S.
    Uncertainty configurations of parallel manipulators.
    Robotica, 18(2):209-211, Mars 2000
    Keywords: singularity.

    135
    Zhou K. and others .
    Singularity loci research on high speed travelling type of double four-rod spatial parallel mechanism.
    Mechanism and Machine Theory, 38(3):195-221, Mars 2003
    Keywords: mechanical architecture,4 dof robot,singularity.

    136
    Zhu S-J., Huang Z., and Zhao M-Y.
    Singularity analysis for a 5-dof fully-symmetrical parallel manipulator 5- $\underline{RRR}(RR)$.
    In IEEE Int. Conf. on Robotics and Automation, pages 1189-1194, Roma, 10-14 Avril 2007
    Keywords: 5 dof robot,singularity.

    137
    Zhu S-J., Huang Z., and Zhao M-Y.
    Singularity analysis for six practicable 5-dof fully-symmetrical parallel manipulators.
    Mechanism and Machine Theory, 44(4):710-725, Avril 2009
    Keywords: 5 dof robot,singularity.

    138
    Zlatanov D., Fenton R.G., and Benhabib B.
    A unifying framework for classification and interpretation of mechanism singularities.
    ASME J. of Mechanical Design, 117(4):566-572, Décembre 1995
    Keywords: singularity.

    139
    Zlatanov D., Fenton R.G., and Benhabib B.
    Identification and classification of the singular configurations of mechanisms.
    Mechanism and Machine Theory, 33(6):743-760, Août 1998
    Keywords: singularity.

    140
    Zlatanov D., Bonev I.A., and Gosselin C.M.
    Constraint singularities as configuration space singularities.
    6 Septembre 2001 http://www.parallemic.org/Reviews/Review008.html.
    Keywords: singularity,3 dof robot.

    141
    Zlatanov D., Bonev I.A., and Gosselin C.M.
    Constraint singularities.
    5 Juillet 2001 www.parallemic.org/Reviews/Review005.html.
    Keywords: singularity,3 dof robot.

    142
    Zlatanov D., Bonev I.A., and Gosselin C.M.
    Constraint singularities as configuration space singularities.
    In ARK, Caldes de Malavalla, 29 Juin-2 Juillet, 2002
    Keywords: singularity.

    143
    Zlatanov D., Bonev I.A., and Gosselin C.M.
    Constraint singularities of parallel mechanisms.
    In IEEE Int. Conf. on Robotics and Automation, pages 496-502, Washington, 11-15 Mai 2002
    Keywords: singularity.

    144
    Zoppi M. and others .
    Constraint singularities of force transmission in nonredundant parallel robots with less than six degrees of freedom.
    ASME J. of Mechanical Design, 125(3):557-563, Septembre 2003
    Keywords: singularity,statics.

    145
    Zsombor-Murray P., Husty M., and Hartmann D.
    Singular Stewart-Gough platforms with spherocylindrical and spheroconical hip joint trajectories.
    In 9th IFToMM World Congress on the Theory of Machines and Mechanisms, pages 1886-1890, Milan, 30 Août-2 Septembre, 1995
    Keywords: singularity,singular robot.
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