... traffic, where high degrees of maneuverability is required. An analysis of the degrees of kinematic mobility has been carried out in the past, such as in Refs. 1 2 3 4 . kinematic singularity actuation strategy powered caster wheels parallel mechanism omnidirectional motion mobile...

..., this sensitivity approaches its maximum close to the kinematic singular configurations of the manipulator. Wenger , P. , Gosselin , C. , and Maillé , B. , 1999 , “ A Comparative Study of Serial and Parallel Mechanism Topologies for Machine Tool ,” Int. Workshop on Parallel Kinematic Machines...