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Keywords: actuator redundancy
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Journal Articles
Journal:
Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research-Article
J. Mechanisms Robotics. November 2013, 5(4): 041003.
Paper No: JMR-12-1107
Published Online: July 16, 2013
... actuator redundancy scheme is used, which not only still maintains all inherent advantages from actuator redundancy but also possesses the kinematic partially decouple feature that improves the flexibility of the robotic system. Kinematic performances, such as dexterity, singularity and stiffness...
