Measures of A-3DOF Spatial Parallel Manipulator (Paperback)

this project deals with the effects of the variation of horizontal reach on three measures of kinematic performance, namely the manipulability, condition number and minimum singular value, which depends upon a manipulator's Jacobian matrix. condition number is the best tool for the control of velocity of end effector. condition number for the Jacobian matrix of robotic manipulator gives the measure of the accuracy of the end-effector's velocity.