Abstract
Geometric algebra is employed for the analysis of the singularity of parallel manipulators with limited mobility. The rotations and translations of vectors and screws are performed in the degenerate geometric algebra G 3,0,1. The condition for singularity is obtained using the language of geometric algebra. The approach is applied to two parallel manipulators with limited mobility.
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Tanev, T.K. (2008). Geometric Algebra Approach to Singularity of Parallel Manipulators with Limited Mobility. In: Lenarčič, J., Wenger, P. (eds) Advances in Robot Kinematics: Analysis and Design. Springer, Dordrecht. https://doi.org/10.1007/978-1-4020-8600-7_5
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DOI: https://doi.org/10.1007/978-1-4020-8600-7_5
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