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    251 références sur: Singularités

    Bibliography

    1
    Abbasnejad G., Daniali H.M., and Kazemi S.M.
    A new approach to determine the maximal singularity-free zone of 3-RPR planar parallel manipulator.
    Robotica, 30(6):1005-1012, Octobre 2012
    Keywords: singularity,workspace,planar robot.

    2
    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.

    3
    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.

    4
    Altuzarra O. and others .
    Motion pattern singularity in lower mobility parallel manipulators.
    In ARK, pages 489-496, Ljubljana, 26-29 Juin 2006
    Keywords: singularity.

    5
    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.

    6
    Amine S. and others .
    Singularity analysis of the H4 robot using Grassman-Cayley algebra.
    Robotica, 30(7):1109-1118, Décembre 2012
    Keywords: singularity,singular motion.

    7
    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.

    8
    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.

    9
    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.

    10
    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.

    11
    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.

    12
    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.

    13
    Baker J.E.
    An analysis of the Bricard linkages.
    Mechanism and Machine Theory, 15(4):267-286, 1980.
    Keywords: singularity,singular robot.

    14
    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.

    15
    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.

    16
    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.

    17
    Baokun L. and others .
    Position-singularity analysis of a special class of the Stewart parallel mechanism with two dissimilar semi-symmetrical hexagons.
    Robotica, 31(1):123-136, Janvier 2013
    Keywords: singularity.

    18
    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.

    19
    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.

    20
    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.

    21
    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.

    22
    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.

    23
    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.

    24
    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.

    25
    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.

    26
    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.

    27
    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.

    28
    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.

    29
    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.

    30
    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.

    31
    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.

    32
    Bohigas O., Manubens M., and Ros L.
    Planning singularity-free force-feasible paths on the Stewart platform.
    In ARK, pages 245-253, Innsbruck, 25-28 Juin 2012
    Keywords: singularity,trajectory planning.

    33
    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.

    34
    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.

    35
    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.

    36
    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.

    37
    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.

    38
    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.

    39
    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.

    40
    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.

    41
    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.

    42
    Borràs J., Thomas F., and Torras C.
    Architectural singularities of a class of pentapods.
    Mechanism and Machine Theory, 46(8):1107-1120, Août 2011
    Keywords: singularity,5 dof robot.

    43
    Borràs J. and Thomas F.
    On the primal and dual forms of the Stewart plztform pure condition.
    IEEE Trans. on Robotics, 28(6):1205-1215, Décembre 2012
    Keywords: singularity.

    44
    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.

    45
    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.

    46
    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.

    47
    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.

    48
    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.

    49
    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.

    50
    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.

    51
    Briot S. and Arakelian V.
    On the dynamic properties of rigid-link flexible-joint parallel manipulators in the presence of type 2 singularities.
    J. of Mechanisms and Robotics, 2(2):021004-1/6, Mai 2010
    Keywords: forward kinematics,dynamics,singularity,flexible robot,singular motion.

    52
    Briot S. and others .
    Optimal force generation of 3-RRR decoupled planar robots for ensuring unlimited platform rotation.
    In RoManSy, Paris, 12-15 Juin 2012
    Keywords: planar robot,singularity,decoupled robot.

    53
    Briot S., Chaumette F., and Martinet P.
    Revisiting the determination of the singularity cases in the visual servoing of images points through the concept of hidden robot.
    IEEE Trans. on Robotics, 33(3):536-546, Juillet 2017
    Keywords: singularity,control,applications.

    54
    Bu W.
    Closeness to singularities of robotic manipulators measure by characteristic angles.
    Robotica, 34:2105-2115, 2016.
    Keywords: singularity.

    55
    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.

    56
    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.

    57
    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.

    58
    Cao Y. and others .
    Orientation-singularity analysis and orientationability evaluation of a special class of the Stewart–Gough parallel manipulators.
    Robotica, 31(8):1361-1372, Décembre 2013
    Keywords: singularity,orientation workspace.

    59
    Carbonari L. and others .
    Analysis of kinematics and reconfigurability of a spherical parallel manipulator.
    IEEE Trans. on Robotics, 30(6):1541-1547, Décembre 2014
    Keywords: spherical robot,3 dof robot,kinematics,kinetics,singularity.

    60
    Caro S., Wenger P., and Chablat D.
    Non-singular assembly mode changing trajectories of a 6-dof parallel robot.
    In ASME IDETC/CIE, Chicago, 12-15 Août 2012
    Keywords: singularity.

    61
    Caro S.
    Contributions à la conception et l'analyse de manipulateurs parallèles et de robot d'usinage, 5 Décembre 2014
    Habilitation à diriger les recherches, Université de Nantes.
    Keywords: kinematics,design,singularity.

    62
    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.

    63
    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.

    64
    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.

    65
    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.

    66
    Chablat D.
    Domain d'unicité et parcourabilité pour les manipulateurs pleinement parallèles.
    Ph.D. Thesis, Ecole Centrale, Nantes, 6 Novembre 1998
    Keywords: singularity,workspace.

    67
    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.

    68
    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.

    69
    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.

    70
    Chablat D. and others .
    Solution regions in the parameter space of a 3-RRR decoupled robot for a prescribed workspace.
    In ARK, pages 357-364, Innsbruck, 25-28 Juin 2012
    Keywords: planar robot,singularity.

    71
    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.

    72
    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.

    73
    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,clearance.

    74
    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.

    75
    Chen G. and others .
    Configuration bifurcation and self-motion analysis of $3-SPS+1PS$ bionic parallel test platform for hip joint simulator.
    Mechanism and Machine Theory, 86:62-72, 2015.
    Keywords: 4 dof robot,singularity,medical.

    76
    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.

    77
    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.

    78
    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.

    79
    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.

    80
    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.

    81
    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.

    82
    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.

    83
    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.

    84
    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.

    85
    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.

    86
    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.

    87
    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.

    88
    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.

    89
    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.

    90
    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.

    91
    Coste M.
    Asymptotic singularities of planar parallel 3-R$\underline{P}$R manipulators.
    In ARK, pages 35-42, Innsbruck, 25-28 Juin 2012
    Keywords: singularity,planar robot.

    92
    Coste M., Chablat D., and Wenger P.
    Perturbation of symmetric $3-R\underline{P}R$ manipulators and asymptotic singularities.
    In 4th European Conf. on Mechanism Science (Eucomes), pages 23-32, Santander, 19-21 Septembre 2012
    Keywords: planar robot,singularity.

    93
    Coste M., Chablat D., and Wenger P.
    Non singular change of assembly mode without any cusp.
    In ARK, pages 105-112, Ljulbjana, 29 Juin-3 Juillet, 2014
    Keywords: planar robot,singularity.

    94
    Coste M. and Moussa S.
    On the rationality of the singularity locus of a Gough–Stewart platform - biplanar case.
    Mechanism and Machine Theory, 87:82-92, 2015.
    Keywords: singularity.

    95
    Crapo H.
    A combinatorial perspective on algebraic geometry.
    In Colloquio Int. sulle Teorie Combinatorie, Rome, 3-15 Septembre 1973
    Keywords: singularity,grassmann geometry.

    96
    Cuan-Urquizo E. and Rodriguez-Lea E.
    Kinematic analysis of the 3-CUP parallel mechanism.
    Robotics and Computer-Integrated Manufacturing, 29(5):382-395, Octobre 2013
    Keywords: mechanical architecture,3 dof robot,singularity.

    97
    Cuan-Urquizo E. and Rodrigrez-Leal E.
    Kinematic analysis of the 3-CUP parallel mechanism.
    Robotics and Computer-Integrated Manufacturing, 29(5):382-395, Octobre 2013
    Keywords: mechanical architecture,3 dof robot,kinematics,singularity.

    98
    Dallalibera F. and Ishiguro H.
    Non-singular transitions between assembly modes of 2-dof planar parallel manipulators with a passive leg.
    Mechanism and Machine Theory, 77:182-197, 2014.
    Keywords: 2 dof robot,planar robot,singularity.

    99
    Dandurand A.
    The rigidity of compound spatial grid.
    Structural Topology 10, pages 43-55, 1984.
    Keywords: singularity,grassmann geometry.

    100
    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.

    101
    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.

    102
    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.

    103
    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.

    104
    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.

    105
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    112
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    117
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    118
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    119
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    120
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    121
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    122
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    Kokkinis T. and Millies P.
    A parallel robot-arm regional structure with actuational redundancy.
    Mechanism and Machine Theory, 26(6):629-641, 1991.
    Keywords: mechanical architecture,workspace,jacobian,singularity,statics,redundant robot.

    216
    Kong X. and Gosselin C.M.
    Generation of architecturally singular 6-SPS parallel manipulators with linearly related planar platforms.
    In F.C. Park C.C. Iurascu, editor, Computational Kinematics, pages 67-75. EJCK, 20-22 Mai 2001
    Keywords: singularity,singular robot,singular motion.

    217
    Kong X. and Gosselin C.M.
    Uncertainty singularity analysis of parallel manipulators based on the instability analysis of structures.
    Int. J. of Robotics Research, 20(11):847-856, Novembre 2001
    Keywords: singularity.

    218
    Kong X.
    Forward kinematics and singularity analysis of a 3-$\underline{R}$PP planar parallel manipulator.
    In ARK, pages 29-38, Batz/mer, 23-26 Juin 2008
    Keywords: planar robot,forward kinematics,singularity.

    219
    Kong X.
    Reconfiguration analysis of a 4-DOF 3-RER parallel manipulator with equilateral triangular base and moving platform.
    Mechanism and Machine Theory, 98:180-189, Avril 2016
    Keywords: 4 dof robot,singularity.

    220
    Kool P.
    Analysis of robot singularities with exterior algebra.
    In Workshop European Advanced Robotic Systems Development, Salford, 12-14 Avril 2000
    Keywords: singularity.

    221
    Kotlarski J. and others .
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    In IEEE Int. Conf. on Robotics and Automation, pages 1256-1261, Kobe, 14-16 Mai 2009
    Keywords: singularity,workspace.

    222
    Kotlarski J. and others .
    Optimization strategies for additional actuators of kinematically redundant parallel kinematic machines.
    In IEEE Int. Conf. on Robotics and Automation, pages 656-661, Anchorage, 3-8 Mai 2010
    Keywords: planar robot,redundant robot,singularity.

    223
    Kumar S.G., Nagarajan T., and Srinivasa Y.G.
    Characterization of reconfigurable Stewart platform for contour generation.
    Robotics and Computer-Integrated Manufacturing, 25(4-5):721-731, Août 2009
    Keywords: performance analysis,singularity,jacobian.

    224
    Kumar V.
    Instantaneous kinematics of parallel-chain robotic mechanisms.
    ASME J. of Mechanical Design, 114(3):349-358, Septembre 1992
    Keywords: singularity,jacobian.

    225
    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
    Keywords: mechanical architecture,wire robot,statics,singularity.

    226
    Lang J., Mick S., and Röschel O.
    The rigidity rate of positions of Stewart-Gough platforms.
    Journal for Geometry and Graphics, 5(2):121-132, 2001.
    Keywords: singularity,performance analysis.

    227
    Last P. and Hesselbach J.
    A new calibration strategy for a class of parallel mechanism.
    In ARK, pages 331-338, Ljubljana, 26-29 Juin 2006
    Keywords: calibration,singularity.

    228
    Last P. and others .
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    In IEEE Int. Conf. on Intelligent Robots and Systems (IROS), pages 3943-3949, San Diego, 22-26 Septembre 2007
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    229
    Last P. and others .
    Singularity based calibration of 3-dof fully parallel planar manipulators.
    In 12th IFToMM World Congress on the Theory of Machines and Mechanisms, Besancon, 18-21 Juin 2007
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    230
    Lebesgue H.
    Octaèdre articulé de Bricard.
    L'enseignement mathématique, (13):150-160, 1967.
    Keywords: kinematics,singularity,singular robot.

    231
    Lee C-C. and Hervè J.M.
    On some applications of primitive Schönflies-motion generators.
    Mechanism and Machine Theory, 44(12):2153-2163, Décembre 2009
    Keywords: structural synthesis,4 dof robot,singularity.

    232
    Lee J., Duffy J., and Keler M.
    The optimum quality index for the stability of in-parallel planar platform devices.
    ASME J. of Mechanical Design, 121(1):15-20, Mars 1999
    Keywords: singularity,planar robot,jacobian.

    233
    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
    Keywords: mechanical architecture,5 dof robot,decoupled robot,kinematics,workspace,singularity,kinetics.

    234
    Lee S. and Kim S.
    Kinematic analysis of generalized parallel manipulator systems.
    In 32nd Conf. on Decision and Control, pages 1097-1102, San Antonio, 15-17 Décembre 1993
    Keywords: singularity,redundant robot.

    235
    Li B., Zhang Q., and Huang Z.
    Position singularity analysis of a spherical class of the Stewart parallel mechanism with two dissimilar semi-symmetrical haxagons.
    Robotica, 31(1):123-136, Janvier 2013
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    236
    Li H. and others .
    Analytic form of the six-dimensional singularity locus of the general Gough-Stewart platform.
    ASME J. of Mechanical Design, 128(1):279-287, Janvier 2006
    Keywords: singularity.

    237
    Li H., Gosselin C.M., and Richard M.J.
    Determination of maximal singularity-free zones in the workspace of planar three-degree-of-freedom parallel mechanisms.
    Mechanism and Machine Theory, 41(10):1157-1167, Octobre 2006
    Keywords: singularity,workspace,planar robot.

    238
    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.
    Keywords: singularity.

    239
    Li Y., Huang Z., and Chen L.
    Singular loci analysis of 3/6-Stewart manipulator by singularity-equivalent mechanism.
    In IEEE Int. Conf. on Robotics and Automation, pages 1881-1886, Taipei, 14-19 Septembre 2003
    Keywords: singularity.

    240
    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.

    241
    Li Y. and Xu Q.
    Kinematic analysis of a 3-PRS parallel manipulator.
    Robotics and Computer-Integrated Manufacturing, 23(4):395-408, Août 2007
    Keywords: 3 dof robot,kinematics,singularity,workspace.

    242
    Liu C-H. and Cheng S.
    Direct singular position of 3RPS parallel manipulator.
    ASME J. of Mechanical Design, 126(6):1006-1016, Novembre 2004
    Keywords: singularity,3 dof robot.

    243
    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
    Keywords: singularity.

    244
    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
    Keywords: 3 dof robot,kinematics,singularity,workspace,mechanical architecture.

    245
    Liu X-J., Kim J., and Oh K-K.
    Singularity analysis of the HALF parallel manipulator with revolute actuators.
    In IEEE Int. Conf. on Robotics and Automation, pages 767-772, Taipei, 14-19 Septembre 2003
    Keywords: singularity,mechanical architecture,3 dof robot.

    246
    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
    Keywords: 3 dof robot,mechanical architecture,kinematics,singularity.

    247
    Liu Y. anf others.
    Determination of the maximal singularity-free zone of 4-RRR redundant parallel manipulator and its application on investigating length ratio of links.
    Robotica, 34(9):2039-2055, Septembre 2016
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    248
    Liu K., Lewis F., Lebret G., and Taylor D.
    The singularities and dynamics of a Stewart platform manipulator.
    J. of Intelligent and Robotic Systems, 8(3):287-308, 1993.
    Keywords: kinematics,singularity,dynamics.

    249
    Lu Y. and Hu B.
    Determining singularity of parallel manipuators with n linear active legs by using CAD variation geometry.
    Int. J. of Robotics and Automation, 23(3):160-167, 2008.
    Keywords: singularity.

    250
    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.
    Keywords: singularity.

    251
    Lu Y., Y.and Shi and Yu J.
    Determination of singularities of some 4-dof parallel manipulators by translational/rotational jacobian matrices.
    Robotica, 28(6):811-889, Octobre 2010
    Keywords: singularity,4 dof robot.

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