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Keywords: linear algebra
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Journal Articles
Journal:
Journal of Mechanical Design
Publisher: ASME
Article Type: Research Papers
J. Mech. Des. January 2006, 128(1): 159–167.
Published Online: July 25, 2005
...-negative actuator (cable) forces. We use tools from convex analysis and linear algebra to derive closed-form expressions for the workspace boundaries and illustrate the applications using planar and spatial examples. 1 There is extensive literature on parallel manipulators going back to the early...
