The Jacobian Analysis of a Parallel Manipulator Using Reciprocal Screws. Tsai, L. In Lenarčič, J. & Husty, M. L., editors, Advances in Robot Kinematics: Analysis and Control, pages 327–336. Springer Netherlands, 1998.
The Jacobian Analysis of a Parallel Manipulator Using Reciprocal Screws [link]Paper  doi  abstract   bibtex   
In this paper, the theory of reciprocal screws is reviewed. Reciprocal screw systems associated with some frequently used kinematic pairs and chains are developed. Then, the application of reciprocal screw systems for the Jacobian analysis of parallel manipulators is described. The Jacobian and singular conditions of a six-dof parallel manipulator are analyzed.
@incollection{tsai_jacobian_1998,
	title = {The {Jacobian} {Analysis} of a {Parallel} {Manipulator} {Using} {Reciprocal} {Screws}},
	copyright = {©1998 Springer Science+Business Media Dordrecht},
	isbn = {978-90-481-5066-3 978-94-015-9064-8},
	url = {http://link.springer.com/chapter/10.1007/978-94-015-9064-8_33},
	abstract = {In this paper, the theory of reciprocal screws is reviewed. Reciprocal screw systems associated with some frequently used kinematic pairs and chains are developed. Then, the application of reciprocal screw systems for the Jacobian analysis of parallel manipulators is described. The Jacobian and singular conditions of a six-dof parallel manipulator are analyzed.},
	language = {en},
	urldate = {2017-04-05TZ},
	booktitle = {Advances in {Robot} {Kinematics}: {Analysis} and {Control}},
	publisher = {Springer Netherlands},
	author = {Tsai, L.-W.},
	editor = {Lenarčič, Jadran and Husty, Manfred L.},
	year = {1998},
	doi = {10.1007/978-94-015-9064-8_33},
	keywords = {Control, Mechanical engineering, Numeric Computing, Robotics and automation, Simulation and Modeling, Vibration, Dynamical Systems, Control},
	pages = {327--336}
}

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