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

This .zip folder contains additional material for the paper titled "Singularity Distance Computations for 3-RPR Manipulators Using Extrinsic Metrics". The animations that correspond to Fig . 9, Fig. 11, Fig. 13 Fig. 15 (Incircle radius performance index), Fig. 16, and Fig. 17 of the paper. The paper deals with finding the closest singular configuration along the 1-parametric motion of a 3-RPR manipulator using distance functions for different interpretations of the 3-RPR manipulator. Furthermore, in the paper the performance of existing kinematic pose independent performance indices are compared with the distance function in identifying the closest singular configuration. The computational procedure is based on homotopy continuation algorithms. Please see Fig. 8 for the flow chart for the computational procedure.本压缩包包含题为《基于外度量的3-RPR机械手奇异位形距离计算》（Singularity Distance Computations for 3-RPR Manipulators Using Extrinsic Metrics）的学术论文的补充材料。其中包含与该论文中图9、图11、图13、图15（内切圆半径性能指标，Incircle radius performance index）、图16及图17对应的动画文件。该论文针对不同建模视角下的3-RPR机械手，借助距离函数求解其单参数运动过程中最接近奇异位形的位姿。此外，论文还将现有运动位姿无关性能指标与该距离函数在识别最接近奇异位形时的性能进行了对比。该计算流程基于同伦连续算法（homotopy continuation algorithms），相关流程图可参见图8。