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Continuous Closed Form Trajectories Generation and Control of Redundantly Actuated Parallel Kinematic Manipulators

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Academic year: 2021

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Figure

Fig. 1: The CAD of the Dual-V with parameters definition
Fig. 2: View of the generated Cartesian trajectories using the classical method
Fig. 3: Evaluation of λ (t), ˙ λ (t) and ¨ λ (t): original (dashed line) and modified (solid line)
Fig. 6: View of the experimental setup; 1 the parallel ma- ma-nipulator, 2 the host PC, 3 the target PC, 4 emergency stop, 5 host monitor, 6 xPC target monitor
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