... speed, accuracy, rigidity, and reconfigurability when compared with conventional machine tools and industrial robots having serial architectures. acceleration control Hessian matrices Jacobian matrices Lie algebras manipulator kinematics motion control velocity control 22 12 2009...

... ), which have the fixed topology. The metamorphic mechanism then evolves from a set of fixed topology mechanisms functioning as subphase working mechanisms. 17 06 2008 30 06 2008 05 08 2008 couplings kinematics Lie algebras Lie groups topology metamorphic mechanism...