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Crossing type 2 singularities of parallel robots without pre-planned trajectory with a virtual-constraint-based controller

Rafael Balderas Hill, Damien Six, Abdelhamid Chriette, Sébastien Briot, Philippe Martinet. Crossing type 2 singularities of parallel robots without pre-planned trajectory with a virtual-constraint-based controller. In 2017 IEEE International Conference on Robotics and Automation, ICRA 2017, Singapore, Singapore, May 29 - June 3, 2017. pages 6080-6085, IEEE, 2017. [doi]

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