Titlebook: Safety and Health in Composite Industry; S.M. Sapuan,R.A. Ilyas,M.R.M. Asyraf Book 2022 The Editor(s) (if applicable) and The Author(s), u

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S. M. Sapuan,R. A. Ilyas,M. R. M. Asyraf at special (singular) configurations are discussed. Generic singular configurations for humanoid robots with and without kinematically redundant limbs are highlighted, and the notion of manipulability ellipsoid is introduced. Special attention is paid to solutions to the inverse instantaneous motio

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S. M. Sapuan,R. A. Ilyas,M. R. M. Asyraf at special (singular) configurations are discussed. Generic singular configurations for humanoid robots with and without kinematically redundant limbs are highlighted, and the notion of manipulability ellipsoid is introduced. Special attention is paid to solutions to the inverse instantaneous motio

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S. M. Sapuan,R. A. Ilyas,M. R. M. Asyrafis chapter. They are useful not only for understanding the robot behavior but also for some practical purposes. While a rather detailed model is acceptable in simulation and analysis, a macroscopic model based on the relationship between momentum and impulse is preferred for planning and control. Wh

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