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A non-degenerate orientation solution of a four-jointed wrist

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2 Author(s)
Stanisic, M. ; Purdue University, West Lafayette, Indiana ; Pennock, G.R.

In this paper a non-degenerate orientation solution is developed for a Four-Jointed Wrist. The solution will guarantee that the wrist is capable of continuously orienting an end-effector without ever finding itself in a degenerate configuration. The solution is in closed-form and is developed from well-known methods and results in spherical kinematics.

Published in:

Robotics and Automation. Proceedings. 1985 IEEE International Conference on  (Volume:2 )

Date of Conference:

Mar 1985