Abstract
Parallel manipulators are closed-loop mechanisms that feature high nominal load and high positioning ability. Usually, they have the same number of actuators than their degree of freedom, but in some cases, it may be interesting to have more actuators than needed, i.e., to consider redundant parallel manipulators. We will show that redundancy is interesting for solving the forward kinematics, for singularities and obstacle avoidance, for improvement in force control, and for kinematic calibration. Another aspect of redundant parallel manipulators is their use for building variable geometry trusses, i.e., highly redundant spatial structures that may be of interest for spatial applications or for applications where obstacle avoidance is critical. © 1996 John Wiley & Sons, Inc.
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