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    171 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

    http://www-sop.inria.fr/coprin/PDF/merlet_ijrr89.pdf, 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

    http://www-sop.inria.fr/coprin/PDF/merlet_ark90.pdf, 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

    http://www-sop.inria.fr/coprin/PDF/merlet_icra92.pdf, 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.

    http://www-sop.inria.fr/coprin/PDF/merlet_ijlra92.pdf, 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

    http://www-sop.inria.fr/coprin/PDF/merlet_bulgarie97-1.pdf, 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

    http://www-sop.inria.fr/coprin/PDF/merlet_ark98.pdf, 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

    http://www-sop.inria.fr/coprin/PDF/merlet_asme_detc2000.pdf, 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

    http://www-sop.inria.fr/coprin/PDF/merlet_ark2006.pdf, 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

    http://www-sop.inria.fr/coprin/PDF/merlet_trans_ieee2007.pdf, Keywords: singularity.

    25
    Merlet J-P. and others .
    Siropa: singularités des robots parallèles.
    In Colloque ANR, Paris, 11-12 Janvier 2011
    Keywords: singularity.

    26
    Merlet J-P.
    Unsolved issues in kinematics and redundancy of wire-driven parallel robots.
    In 1st Int. Conf. on cable-driven parallel robots (CableCon), Stuttgart, 3-4 Septembre 2012

    http://www-sop.inria.fr/coprin/PDF/trans_cablecon2012.pdf, Keywords: kinematics,singularity.

    27
    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.

    28
    Mick S. and Röschel O.
    Geometry & architecturally shaky platform.
    In ARK, pages 455-464, Strobl, 29 Juin-4 Juillet, 1998
    Keywords: singularity,singular robot.

    29
    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.

    30
    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.

    31
    Moroz G., Rouiller F., Chablat D., and Wenger P.
    On the determination of cusp points of 3- $R\underline{P}R$ parallel manipulators.
    Mechanism and Machine Theory, 45(11):1555-1567, Novembre 2010
    Keywords: planar robot,singularity.

    32
    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

    http://www-sop.inria.fr/coprin/PDF/merlet_mouly_ieee92.pdf, Keywords: singularity,actuators.

    33
    Müller A.
    Higher order local analysis of singularity of parallel mechanisms.
    In ASME Design Engineering Technical Conference, Montréal, 29 Septembre-2 Octobre, 2002
    Keywords: singularity.

    34
    Müller A. and Ruggiu M.
    Self calibration of redundantly actuated PKM based on motion reversal point.
    In ARK, pages 75-82, Innsbruck, 25-28 Juin 2012
    Keywords: calibration,redundant robot,singularity,planar robot.

    35
    Nawratil G.
    Main theorem on Schönfliess-singular planar Stewart Gough platforms.
    In ARK, pages 107-116, Piran, 28 Juin-1 Juillet, 2010
    Keywords: singularity.

    36
    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.

    37
    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.

    38
    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.

    39
    Nawratil G.
    Self-motions of planar prjective Stewart Gough platforms.
    In ARK, pages 27-34, Innsbruck, 25-28 Juin 2012
    Keywords: singularity,singular motion.

    40
    Nawratil G.
    Correcting duporcq's theorem.
    Mechanism and Machine Theory, 73(12):282-295, Mars 2014
    Keywords: singularity,forward kinematics.

    41
    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.

    42
    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.

    43
    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.

    44
    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.

    45
    Notash L.
    Uncertainty configurations of parallel manipulators.
    Mechanism and Machine Theory, 33(1/2):123-138, Janvier 1998
    Keywords: singularity.

    46
    Nurahmi L. and others .
    Reconfiguration analysis of a 4-RUU parallel manipulator.
    Mechanism and Machine Theory, 96:269-289, Février 2016
    Keywords: mobility,singularity.

    47
    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.

    48
    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.

    49
    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.

    50
    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.

    51
    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.

    52
    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.

    53
    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.

    54
    Özdemir M.
    Singularity-consistent payload locations for parallel manipulators.
    Mechanism and Machine Theory, 97:171-189, Mars 2016
    Keywords: singularity,dynamics,trajectory planning.

    55
    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,wrist,spherical robot,singularity.

    56
    Pagis G.
    Augmentation de la taille de l'espace de travail opérationnel des robots parallèles en traversant les singularités de Type 2: génération de trajectoires optimales et commande avancée.
    Ph.D. Thesis, Ecole Centrale de Nantes, Nantes, 13 Janvier 2015
    Keywords: singularity,workspace.

    57
    Parsa S.S, Boudreau R., and Carretero J.A.
    Reconfigurable mass parameters to cross direct kinematics singularities in parallel manipulators.
    Mechanism and Machine Theory, 85:53-63, 2015.
    Keywords: dynamics,singularity,balancing.

    58
    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.

    59
    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.

    60
    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.

    61
    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.

    62
    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.

    63
    Pernkopf F. and Husty M.
    Singularity analysis of spatial Stewart-Gough platform with planar base and platform.
    In ASME Design Engineering Technical Conference, Montréal, 29 Septembre-2 Octobre, 2002
    Keywords: singularity.

    64
    Pernkopf F.
    Workspace analysis of Stewart-Gough platforms.
    Ph.D. Thesis, Baufakultät, University of Innsbruck, 11 Septembre 2003
    Keywords: workspace,singularity.

    65
    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.

    66
    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.

    67
    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.

    68
    Robinson J.D. and Hayes M.J.D.
    Velocity level kinematic analysis of serial nA chains.
    In ARK, pages 389-396, Innsbruck, 25-28 Juin 2012
    Keywords: singularity,singular motion,hybrid robot.

    69
    Rojas N.., Borras J., and Thomas F.
    The octahedral manipulator revisited.
    In IEEE Int. Conf. on Robotics and Automation, pages 2293-2298, Saint Paul, 14-18 Mai 2012
    Keywords: kinematics,singularity,mechanical architecture.

    70
    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.

    71
    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.

    72
    Rubbert L. and others .
    A planar compliant mechanism with RRP mobilities based on the singularity analysis of a 3-US parallel mechanism.
    In ARK, pages 381-388, Innsbruck, 25-28 Juin 2012
    Keywords: passive compliance,singularity.

    73
    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.

    74
    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.

    75
    H. Saafil., Laribi M.A., and Zeghloul S.
    Redundantly acctuated 3-RRR spherical parallel manipulator used as a haptic device: improving dexterity and eliminating singularities.
    Robotica, 33(5):1113-1130, Juin 2015
    Keywords: spherical robot,applications,haptic device,redundant robot,singularity.

    76
    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.

    77
    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.

    78
    Schadlbauer J., Walter D.R., and Husty M.
    The 3-RPS parallel manipulator from an algebraic viewpoint.
    Mechanism and Machine Theory, 75:161-176, Mai 2014
    Keywords: forward kinematics,singularity.

    79
    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.

    80
    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.

    81
    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.

    82
    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.

    83
    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.

    84
    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.

    85
    Shanker V. and Bandyopadhyay S.
    Singular manifold of the general hexagonal Stewart platform manipulator.
    In ARK, pages 397-404, Innsbruck, 25-28 Juin 2012
    Keywords: singularity.

    86
    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.

    87
    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.

    88
    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.

    89
    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.

    90
    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.

    91
    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.

    92
    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.

    93
    Stoica A. and others .
    Workspace and singularity analysis for a parallel robot used in surgical operation.
    In 4thEuropean Conf. on Mechanism Science (Eucomes), pages 149-158, Santander, 19-21 Septembre 2012
    Keywords: 5 dof robot,hybrid robot,medical,applications,singularity.

    94
    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.

    95
    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.

    96
    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.

    97
    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.

    98
    Tadokoro S.
    Control of parallel mechanisms.
    Advanced Robotics, 8(6):559-571, Décembre 1994
    Keywords: redundant robot,control,stiffness,singularity,dynamics.

    99
    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.

    100
    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.

    101
    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.

    102
    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.

    103
    Theingi and others .
    Management of parallel-manipulator singularities using joint-coupling.
    Advanced Robotics, 21(5-6):583-600, 2007.
    Keywords: singularity,planar robot,hardware.

    104
    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.

    105
    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.

    106
    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.

    107
    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.

    108
    Urizar M. and others .
    Assembly mode changing in the cuspidal analytic 3-R$\underline{P}$R.
    IEEE Trans. on Robotics, 28(2):506-513, Avril 2012
    Keywords: planar robot,singularity,forward kinematics.

    109
    Urizar M. and others .
    Non singular transitions based design methodology for parallel manipulators.
    Mechanism and Machine Theory, 91:168-196, 2015.
    Keywords: singularity,forward kinematics,trajectory planning.

    110
    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.

    111
    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.

    112
    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.

    113
    Wang D., Fan R., and Chen W.
    Performance enhancement of a three-degree-of-freedom parallel tool head via actuation redundancy.
    Mechanism and Machine Theory, 71:142-162, Janvier 2014
    Keywords: 3 dof robot,redundant robot,singularity,workspace.

    114
    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.

    115
    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.

    116
    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.

    117
    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.

    118
    Wang J. and Gosselin C.M.
    Singularity analysis and design of kinematically redundant parallel mechanism.
    In ASME Design Engineering Technical Conference, Montréal, 29 Septembre-2 Octobre, 2002
    Keywords: singularity,planar robot,spherical robot,redundant robot.

    119
    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.

    120
    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.

    121
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    Keywords: 3 dof robot,singularity,redundant robot.

    122
    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.

    123
    Wen J.T. and O'Brien J.F.
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    IEEE Trans. on Robotics and Automation, 19(4):720-726, Août 2003
    Keywords: singularity.

    124
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    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.

    125
    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.

    126
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    Keywords: planar robot,singularity,forward kinematics.

    127
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    Mechanism and Machine Theory, 29(4):581-589, Mai 1994
    Keywords: kinematics,singularity,decoupled robot.

    128
    Wohlhart K.
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    Mechanism and Machine Theory, 34(7):1103-1126, Octobre 1999
    Keywords: accuracy,singularity.

    129
    Wohlhart K.
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    In ARK, pages 365-374, Piran, 25-29 Juin 2000
    Keywords: singularity,singular robot.

    130
    Wohlhart K.
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    J. of Robotic Systems, 20(8):509-516, 2003.
    Keywords: singularity,singular robot.

    131
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    132
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    ASME J. of Mechanical Design, 125(3):564-572, Septembre 2003
    Keywords: singularity,statics.

    133
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    Mechanism and Machine Theory, 39(1):75-95, Janvier 2004
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    134
    Wu C. and others .
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    In IEEE Int. Conf. on Robotics and Automation, pages 5135-5140, Shangai, 9-13 Mai 2011
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    135
    Wu Y. and Gosselin C.M.
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    In ARK, pages 423-432, Caldes de Malavalla, 29 Juin-2 Juillet, 2002
    Keywords: mechanical architecture,3 dof robot,kinematics,singularity,workspace.

    136
    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.

    137
    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.

    138
    Yang G. and others .
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    In IEEE Int. Conf. on Robotics and Automation, pages 2407-2412, Seoul, 21-26 Mai 2001
    Keywords: singularity.

    139
    Yang G., Chen I-M., and Angeles J.
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    IEEE Trans. on Robotics and Automation, 17(4):413-422, Août 2001
    Keywords: singularity,jacobian,inverse jacobian.

    140
    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.

    141
    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.

    142
    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.

    143
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    J. of Intelligent and Robotic Systems, 53(1):3-19, Septembre 2008
    Keywords: singularity,jacobian.

    144
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    Keywords: singularity,design.

    145
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    Mechanism and Machine Theory, 45(11):1674-1706, Novembre 2010
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    146
    Yasuda T. and others .
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    In 26th Ann. Conf. of the IEEE Indus. Electronics Society, pages 217-222, Nagoya, 22-28 Octobre 2000
    Keywords: trajectory planning,control,singularity.

    147
    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.

    148
    Yiu Y.K. and Li Z.X.
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    Keywords: singularity.

    149
    Zarkandi S.
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    Robotica, 29(7):1083-1092, Décembre 2011
    Keywords: spherical robot,singularity,3 dof robot.

    150
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    Keywords: planar robot,singularity.

    151
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    In 1st European Conf. on Mechanism Science (Eucomes), Obergurgl, 21-26 Février 2006
    Keywords: planar robot,singularity.

    152
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    Keywords: planar robot,singularity.

    153
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    Keywords: planar robot,singularity.

    154
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    Keywords: planar robot,singularity.

    155
    Zhang K., Dai J.S., and Fang Y.
    Constraint analysis and bifurcated motion of the 3PUP parallel mechanism.
    Mechanism and Machine Theory, 49:256-269, Mars 2012
    Keywords: 3 dof robot,singularity,applications,medical.

    156
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    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.

    157
    Zhao J-S. and others .
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    Mechanism and Machine Theory, 40(3):275-284, Mars 2005
    Keywords: singularity.

    158
    Zhao J-S. and others .
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    Keywords: 4 dof robot,singularity.

    159
    Zhao X. and Peng S.
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    Robotica, 18(2):209-211, Mars 2000
    Keywords: singularity.

    160
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    Singularity isotropy and velocity transmission evluation of a three translational degree-of-freedo parallel robot.
    Robotica, 31(2):193-202, Mars 2013
    Keywords: 3 dof robot,isotropy,singularity.

    161
    Zhou K. and others .
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    Mechanism and Machine Theory, 38(3):195-221, Mars 2003
    Keywords: mechanical architecture,4 dof robot,singularity.

    162
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    164
    Zlatanov D., Fenton R.G., and Benhabib B.
    A unifying framework for classification and interpretation of mechanism singularities.
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    165
    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
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    166
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    6 Septembre 2001 http://www.parallemic.org/Reviews/Review008.html.
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    167
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    5 Juillet 2001 www.parallemic.org/Reviews/Review005.html.
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    170
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    ASME J. of Mechanical Design, 125(3):557-563, Septembre 2003
    Keywords: singularity,statics.

    171
    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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