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Singularity Invariant Transformations in Stewart Plaforms (Part I)

Singularity Invariant Transformations in Stewart Plaforms (Part I). Federico Thomas. Goal. Stewart-Gough platforms are 6-DOF parallel manipulators consisting of 6 legs joining a base to a platform. In general, its forward k inematics and singularity analysis are difficult.

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Singularity Invariant Transformations in Stewart Plaforms (Part I)