Singularity Distance Computations for 3-Rpr Manipulators Using Extrinsic Metrics
Singularity Distance Computations for 3-Rpr Manipulators Using Extrinsic Metrics
It is well-known that parallel manipulators are prone to singularities. There is still a lack of distance evaluation functions, referred to as metrics, for computing the distance between two 3-RPR configurations. The presented extrinsic metrics take the combinatorial structure of the manipulator into account as well as different design options. …