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If backlash is present in the actuation hardware for a manipulator, torque switching compromises accuracy. When in-branch redundant actuation is added, a pseudoinverse torque solution requires smaller joint torques, but torque switching may still occur. A method is presented where concepts of exploiting a nullspace basis of the joint torques are used to ensure that single sense joint torques can be achieved for the actuated joints. The same sense torque solutions are obtained using nonlinear optimization. The methodology is applied to several examples simulating parallel manipulators in machining applications.<\/jats:p>","DOI":"10.1017\/s026357471100066x","type":"journal-article","created":{"date-parts":[[2011,7,11]],"date-time":"2011-07-11T07:10:03Z","timestamp":1310368203000},"page":"379-388","source":"Crossref","is-referenced-by-count":9,"title":["Backlash elimination in parallel manipulators using actuation redundancy"],"prefix":"10.1017","volume":"30","author":[{"given":"Roger","family":"Boudreau","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Xu","family":"Mao","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Ron","family":"Podhorodeski","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"56","published-online":{"date-parts":[[2011,7,11]]},"reference":[{"key":"S026357471100066X_ref9","doi-asserted-by":"publisher","DOI":"10.1016\/j.mechmachtheory.2009.03.006"},{"key":"S026357471100066X_ref14","doi-asserted-by":"publisher","DOI":"10.1016\/j.mechmachtheory.2006.07.006"},{"key":"S026357471100066X_ref5","doi-asserted-by":"publisher","DOI":"10.1007\/s11044-007-9081-3"},{"key":"S026357471100066X_ref18","volume-title":"Introduction to Robotics: Mechanics and Control","author":"Craig","year":"2005"},{"key":"S026357471100066X_ref15","doi-asserted-by":"publisher","DOI":"10.1002\/(SICI)1098-2728(1996)8:1<17::AID-LRA3>3.0.CO;2-#"},{"key":"S026357471100066X_ref7","doi-asserted-by":"publisher","DOI":"10.1115\/1.1436088"},{"key":"S026357471100066X_ref8","doi-asserted-by":"publisher","DOI":"10.1016\/j.mechmachtheory.2005.04.002"},{"key":"S026357471100066X_ref4","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2004.842341"},{"key":"S026357471100066X_ref21","doi-asserted-by":"publisher","DOI":"10.1115\/1.2912612"},{"key":"S026357471100066X_ref6","doi-asserted-by":"publisher","DOI":"10.1115\/1.4000522"},{"key":"S026357471100066X_ref3","first-page":"5","volume-title":"Proceedings of the 11th World Congress in Mechanism and Machine Science","author":"Pham","year":"2004"},{"key":"S026357471100066X_ref19","volume-title":"Linear Algebra and its Applications","author":"Strang","year":"1988"},{"key":"S026357471100066X_ref1","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2005.855989"},{"key":"S026357471100066X_ref10","doi-asserted-by":"publisher","DOI":"10.1109\/70.56660"},{"key":"S026357471100066X_ref17","volume-title":"Kinematic Geometry of Mechanisms","author":"Hunt","year":"1978"},{"key":"S026357471100066X_ref20","unstructured":"20. 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