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Redundant and Parallel Manipulators

Redundant and Parallel Manipulators. In this lecture, you will learn: Redundant manipulators basics Parallel manipulators basics. Redundant and Parallel Manipulators. Reading: Chapter 3.5 – R. Murray. Example: Self-Motion Manifold for a 3R planar manipulator.

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Redundant and Parallel Manipulators

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  1. Redundant and Parallel Manipulators In this lecture, you will learn: • Redundant manipulators basics • Parallel manipulators basics

  2. Redundant and Parallel Manipulators Reading: Chapter 3.5 – R. Murray

  3. Example: Self-Motion Manifold for a 3R planar manipulator

  4. Examples: 4-Bar Linkage and 5R –planar manipulator

  5. Example: Stewart-Gough platform

  6. Example: Stewart-Gough platform + PUMA 560

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