Optimal torque distribution for a redundant 3-RRR spherical parallel manipulator used as a haptic medical device

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Title
Optimal torque distribution for a redundant 3-RRR spherical parallel manipulator used as a haptic medical device
Authors
Keywords
Redundancy, Singularity, Haptic device, Spherical parallel manipulator
Journal
ROBOTICS AND AUTONOMOUS SYSTEMS
Volume 89, Issue -, Pages 40-50
Publisher
Elsevier BV
Online
2016-12-21
DOI
10.1016/j.robot.2016.12.005

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