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Comments on "Closed form forward kinematics solution to a class of hexapod robots"

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2 Author(s)
Bruyninckx, H. ; Dept. of Mech. Eng., Katholieke Univ., Leuven, Heverlee, Belgium ; De Schutter, J.

The paper above by Yang and Geng (1998) presents a class of parallel manipulators that has an efficient closed form solution to its forward kinematics. This Correspondence points to some missing insights in that paper (and in many others), especially with respect to singular configurations.

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Robotics and Automation, IEEE Transactions on  (Volume:15 ,  Issue: 4 )