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Changing posture for cuspidal robot manipulators

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2 Author(s)
Wenger, P. ; Lab. d''Autom., Nantes Univ., France ; El Omri, J.

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