- Check the Inverse Kinematic solution; - Constraints in Jacobian formulation included angular part; - Compare the Manipulabiilty Ellipsoid with a normal Planar RRR or...
The optimization process of a Phantom 1.5 device by replacing the parallelogram structure with a fourbar mechanism, within a selected region of the workspace.
- Check the Inverse Kinematic solution; - Constraints in Jacobian formulation included angular part; - Compare the Manipulabiilty Ellipsoid with a Spatial RR Manipulator. -...