@inproceedings{aa800d93d5474892b54fc1a3d97115e0,
title = "A prototype parallel manipulator: Kinematics, construction, software, workspace results, and singularity analysis",
abstract = "A prototype parallel link manipulator is described. The kinematics of a general parallel link manipulator are discussed. The hardware and software of the prototype manipulator are presented. Some symbolic kinematic results for the prototype are given, along with a discussion of how these results might be used. The workspace of the prototype is analyzed, both by simulation and experimentation. The singularity problem for parallel manipulators is discussed, and a singular configuration for the prototype is shown.",
author = "Kevin Cleary and Tatsuo Arai",
year = "1991",
language = "English",
isbn = "081862163X",
series = "Proceedings - IEEE International Conference on Robotics and Automation",
publisher = "Publ by IEEE",
pages = "566--571",
booktitle = "Proceedings - IEEE International Conference on Robotics and Automation",
note = "Proceedings of the 1991 IEEE International Conference on Robotics and Automation ; Conference date: 09-04-1991 Through 11-04-1991",
}