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Singular cases of the planar parallel robot
 Belda, Květoslav ; Stejskal, V.
Singular cases - singularities of the robot are defined as positions in which the robot loses kinematic definiteness. The loss appears in both direct and inverse kinematic transformation. Existence of the singularities in the robot workspace causes sharp changes in profiles of the velocities and accelerations and changes in force effects. The objective of this paper is to investigate singularities (singular positions) of one parallel robot structure and to simply classify such singular cases.
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