Generalizing the Control Number for 6-dof UCU Hexapods with classic or eccentric U-joints
نویسنده
چکیده
In this paper, we present a novel index, called the Generalized Control Number (GCTN ), which evaluates the closeness of a given non-singular configuration of a hexapod with UCU-legs to the next singularity. The GCTN is invariant with respect to similarity transformations (choice of units) and under Euclidean motions of the reference frame (choice of fixed frame). Moreover, this index indicates the closeness to all types of singularities (end-effector and leg singularities) simultaneously and it has a clear geometric/kinematic meaning.
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