Singularity Distance Computations for 3-Rpr Manipulators Using Extrinsicmetrics
Singularity Distance Computations for 3-Rpr Manipulators Using Extrinsicmetrics
It is well-known that parallel manipulators are prone to singularities. However, there is still alack of distance evaluation functions, referred to as metrics, for computing the distance betweentwo 3-RPR configurations. The proposed extrinsic metrics take the combinatorial structure of themanipulator into account as well as different design options. Utilizing these …