Referenced Items are not available for this document.
The primary goal of this paper is a descriptive explanation, based on typical illustrative examples, of what happens precisely when a serial non-redundant manipulator is changing its posture. This work focuses on the cuspidal robot manipulators, i.e. those robot manipulators which can change posture without meeting a singularity. The analysis is done for 3-DOF positioning manipulators. It applies to 6-DOF manipulators with wrists as well. Main applications of this study are robot design and trajectory planning
Published in:
Robotics and Automation, 1996. Proceedings., 1996 IEEE International Conference on
(Volume:4
)
Date of Conference: 22-28 Apr 1996
- Page(s):
- 3173 - 3178 vol.4
- Meeting Date :
- 22 Apr 1996-28 Apr 1996
- ISSN :
- 1050-4729
- Print ISBN:
- 0-7803-2988-0
- INSPEC Accession Number:
- 5335588
- Conference Location :
- Minneapolis, MN
- Digital Object Identifier :
- 10.1109/ROBOT.1996.509195
- Product Type:
- Conference Publications
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