# Supplementary materials: Singularity Distance Computations for 3-RPR Manipulators Using Intrinsic Metrics

Published: 21 September 2023| Version 2 | DOI: 10.17632/5p2d5h7mfn.2

Contributor:

Aditya Kapilavai## Description

Supplementary materials are animations that correspond to Fig 4 of the paper titled " Singularity Distance Computations for 3-RPR Manipulators Using Intrinsic Metrics". The generic finite solutions are obtained from the ab-initio phase. The nine considered interpretations of a 3-RPR manipulator as planar frameworks, which are arranged in a 3x3 matrix are shown in Fig .2 of the paper. The latter is symmetric with respect to the exchange of the platform and the base, which can be achieved by considering the inverse motion of the manipulator. The computational pipeline is given by Fig. 3 in the paper.

## Files

## Institutions

Technische Universitat Wien

## Categories

Numerical Computational Method, Parallel Manipulator, Singularity Analysis of Robot, Computational Algebraic Geometry

## Funding

Austrian Science Fund

Grant No. P 30855-N32