统一了冗余并联机器人的术语与几何分析框架，揭示冗余驱动可规避输入奇异性。
On the Terminology and Geometric Aspects of Redundant Parallel Manipulators
- 以配置空间为核心建立通用建模方法，区分各类奇异性
- 证明冗余驱动能通过几何特性避免输入奇异性
- 提出动力学系统与驱动度概念，分类全驱动与欠驱动机器人
并联运动学机构（PKM）可表现出运动学和驱动冗余。尽管串联机械臂的运动学冗余含义已明确，但仅在PKM中可能出现的驱动冗余在文献中分类不一。本文提出适用于一般冗余PKM的一致术语体系。引入以配置空间（c-space）为核心的运动学模型，重申了对PKM的运动学冗余定义，并区分了配置空间、输出和输入奇异性。强调了c-space几何结构的重要性，从几何角度指出可通过冗余驱动策略避免输入奇异性。为区分不同驱动方案，引入一个定义在c-space上的非线性控制系统，提出驱动度（DOA）作为独立控制向量场的数量，据此将PKM分为全驱动与欠驱动类型。结合自由度（DOF）可进一步对驱动冗余进行分类。
原文摘要 · Abstract (English)
Parallel kinematics machines (PKM) can exhibit kinematic as well as actuation redundancy. While the meaning of kinematic redundancy has been clarified already for serial manipulators, actuation redundancy, that is only possible in PKM, is differently classified in the literature. In this paper a consistent terminology for general redundant PKM is proposed. A kinematic model is introduced with the configuration space (c-space) as central part. The notion of kinematic redundancy is recalled for PKM. C-space, output, and input singularities are distinguished. The significance of the c-space geometry is emphasized, and it is pointed out geometrically that input singularities can be avoided by redundant actuation schemes. In order to distinguish different actuation schemes of PKM a non-linear control system is introduced whose dynamics evolves on the c-space. The degree of actuation (DOA) is introduced as the number of independent control vector fields, and PKM are classified as full-actuated and underactuated. Relating this DOA to the degree of freedom (DOF) allows to classify the actuation redundancy.
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