Working And Assembly Modes Of The Agile Eye - …

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Working And Assembly Modes Of The Agile Eye - …

Abstract Essence

[the] [θ] [of] [0] [1] [2] [and] [cos] [sin] [a] [−] [is] [in] [3] [to] [ψ] [ϕ] [that] [Agile] [Eye] [are] [for] [solutions] [four] [i] [platform] [π] [joint] [direct] [be] [two] [kinematic] [assembly] [it] [can] [⎢] [⎥] [The] [mobile] [B] [active] [by] [singularity] [modes] [⎡] [⎣] [⎤] [⎦] [parallel] [these] [each] [at] [with] [problem] [mode] [as] [q] [A] [where] [was] [on] [self] [working] [one] [nontrivial] [not] [solution] [trivial] [v] [leg] [Eqs] [p] [orientation] [only] [R] [three] [workspace] [motions] [kinematics] [Type] [singular] [or] [In] [base] [T] [Eq] [all] [its] [variables] [singularities] [4] [set] [reference] [will] [shown] [orientations] [paper] [w] [which] [this]