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In this paper experimental results are presented to compare the performance of kinematically redundant parallel robots with respect to their non-redundant counterparts. The main purpose is to validate existing simulated, i.e. claimed, findings demonstrating the advantages of kinematic redundancy in terms of singularity avoidance and, therefore, accuracy and precision. Exemplarily, the kinematically...
In this paper five different optimization strategies for kinematically redundant mechanisms, i.e. mechanisms having additional actuator(s) in at least one kinematic chain, are presented. They are based on two main approaches, a discrete optimization and a classical continuous optimization. Exemplarily, a planar, kinematically redundant 3RRR-based mechanism is introduced. The position of its redundant...
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