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99 références sur: Singularités Communication personelle

Bibliography

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3

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Bénéa R.
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7

Berthomieu T.
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8

Bricard R.
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Keywords: forward kinematics,singular robot,singularity.

9

Bricard R.
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Keywords: forward kinematics,singularity,singular robot.

10

Chablat D.
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11

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12

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13

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14

Clavel R.
DELTA, a fast robot with parallel geometry.
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15

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A prototype parallel manipulator: kinematics construction, software, workspace results and singularity analysis.
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16

Collins C.L. et Long G.L.
The singularity analysis of an in-parallel hand controller for force-reflected teleoperation.
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17

Crapo H.
A combinatorial perspective on algebraic geometry.
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Keywords: singularity,grassmann geometry.

18

Dandurand A.
The rigidity of compound spatial grid.
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Keywords: singularity,grassmann geometry.

19

Daniali H.R.M., Zsombor-Murray P.J., et Angeles J.
Singularity analysis of a general class of planar parallel manipulators.
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20

Dasgupta B. et 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.

21

Dasgupta B. et 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.

22

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

23

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

24

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

25

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

26

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

27

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

28

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

29

Funabashi H. et Takeda Y.
Determination of singular points and their vicinity in parallel manipulators based on the transmission index.
In 9th World Congress on the Theory of Machines and Mechanisms, pages 1977-1981, Milan, 30 Août-2 Septembre, 1995
Keywords: singularity.

30

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

31

Gosselin C. et Angeles J.
The optimum kinematic design of a spherical three-degree-of-freedom parallel manipulator.
J. of Mechanisms, Transmissions and Automation in Design, 111(2):202-207, 1989.
Keywords: spherical robot,workspace,isotropy,singularity,design,3 dof robot,wrist.

32

Gosselin C. et Angeles J.
Singularity analysis of closed-loop kinematic chains.
IEEE Trans. on Robotics and Automation, 6(3):281-290, Juin 1990
Keywords: singularity.

33

Gosselin C., Perreault T., et Vaillancourt C.
Smaps: a computer-aided design package for the analysis and optimization of a spherical parallel manipulators.
In ISRAM, pages 115-120, Hawaï, 14-18 Août 1994
Keywords: spherical robot,optimal design,mechanical architecture,CAD,workspace,singularity,design,3 dof robot,wrist.

34

Gosselin C. et Sefrioui J.
Determination of the singular loci of spherical 3 d.o.f parallel manipulators.
In 22nd Biennial Mechanisms Conf., volume DE-45, pages 329-336, Scottsdale, 13-16 Septembre 1992
Keywords: singularity,spherical robot,wrist.

35

Gosselin C. et Wang J.
Singularity loci of planar parallel manipulator.
In 9th World Congress on the Theory of Machines and Mechanisms, pages 1982-1986, Milan, 30 Août-2 Septembre, 1995
Keywords: singularity.

36

Gosselin C. et Wang J.
Singularity loci of planar parallel manipulators with revolute actuators.
Robotics and autonomous Systems, 21(4):377-398, Octobre 1997
Keywords: planar robot,singularity,2 dof robot,3 dof robot.

37

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

38

Hao F. et McCarthy J.M.
Conditions for line-based singularities in spatial platform manipulators.
J. of Robotic Systems, 15(1):43-55, 1998.
Keywords: singularity.

39

Husty M.L. et Zsombor-Murray P.
A special type of singular Stewart-Gough platform.
In ARK, pages 449-458, Ljubljana, 4-6 Juillet 1994
Keywords: mechanical architecture,singularity,singular robot.

40

Innocenti C. et Parenti-Castelli V.
Singularity-free evolution from one configuration to another in serial and fully-parallel manipulators.
In 22nd Biennial Mechanisms Conf., pages 553-560, Scottsdale, 13-16 Septembre 1992
Keywords: singularity,forward kinematics.

41

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

42

Karger A.
Architecture singular parallel manipulators.
In ARK, pages 445-454, Strobl, 29 Juin-4 Juillet, 1998
Keywords: singularity,singular robot.

43

Karger A. et Husty M.
On self-motions of a class of parallel manipulators.
In J. Lenarcic V. Parenti-Castelli, editor, Recent Advances in Robot Kinematics, pages 339-348. Kluwer, 1996.
Keywords: singularity,mechanical architecture,singular robot.

44

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

45

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

46

Kock S. et Schumacher W.
A parallel x-y manipulator with actuation redundancy for high speed and active stiffness applications.
In IEEE Int. Conf. on Robotics and Automation, pages 2295-2300, Louvain, 18-20 Mai 1998
Keywords: 2 dof robot,redundant robot,workspace,stiffness,mechanical architecture,singularity.

47

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

48

Kokkinis T. et 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.

49

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

50

Landsberger S.E. et 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.

51

Lebesgue H.
Octaèdre articulé de Bricard.
L'enseignement mathématique, (13):150-160, 1967.
Keywords: kinematics,singularity,singular robot.

52

Lee S. et 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.

53

Liu K., Lewis F., Lebret G., et Taylor D.
The singularities and dynamics of a Stewart platform manipulator.
J. of Intelligent and Robotic Systems, 8:287-308, 1993.
Keywords: kinematics,singularity,dynamics.

54

Ma O. et 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.

55

Mayer St-Onge B. et Gosselin C.
Singularity analysis and representation of spatial six-dof parallel manipulators.
In J. Lenarcic V. Parenti-Castelli, editor, Recent Advances in Robot Kinematics, pages 389-398. Kluwer, 1996.
Keywords: singularity.

56

Merlet J-P.
Singular configurations of parallel manipulators and Grassmann geometry.
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Keywords: singularity.

57

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

58

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

59

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

60

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.

61

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.

62

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.

63

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.

64

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

65

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.

66

Merlet J-P.
Parallel manipulators, Part 2, Singular Configurations and Grassmann geometry.
Rapport de Recherche 791, INRIA, Février 1988
Keywords: singularity.

67

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

68

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

69

Mouly N. et 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.

70

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

71

Nenchev D.N. et 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.

72

Nenchev D.N. et 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.

73

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

74

Notash L. et 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,forward kinematics with redundant sensors.

75

Ouerfelli M. et 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.

76

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

77

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

78

Podhorodeski R. et 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.

79

Pottmann H., Peternell M., et 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.

80

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

81

Ryu R.J. et al.
Eclipse: an overactuated parallel mechanism for rapid machining.
In RoManSy, pages 79-86, Paris, 6-9 Juillet 1998
Keywords: mechanical architecture,applications,redundant robot,workspace,singularity.

82

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

83

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

84

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

85

Sefrioui J. et 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, 1994.
Keywords: singularity,3 dof robot.

86

Sefrioui J. et 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.

87

Shi X. et 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

Stoughton R. et 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.

89

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

90

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

91

Tahmasebi F. et 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.

92

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.

93

Wenger P. et 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.

94

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

95

Xu Y-X., Kohli D., et 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.

96

Yang P-H., Waldron J.K., et Orin D.E.
Kinematics of a three degree-of-freedom motion platform for a low cost driving simulator.
In J. Lenarcic V. Parenti-Castelli, editor, Recent Advances in Robot Kinematics, pages 89-98. Kluwer, 1996.
Keywords: mechanical architecture,applications,kinematics,singularity,workspace.

97

Yi B-J., Freeman R.A., et 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.

98

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

99

Zsombor-Murray P., Husty M., et Hartmann D.
Singular Stewart-Gough platforms with spherocylindrical and spheroconical hip joint trajectories.
In 9th 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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