By Topic

Redundant manipulators under kinematic constraints: a topology-based kinematic map generation and discretization

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

2 Author(s)
Luck, C.L. ; Dept. of Electr. Eng., Univ. of Southern California, Los Angeles, CA, USA ; Sukhan Lee

The topology of self-motion manifolds for redundant manipulators with kinematic constraints is discussed. The semi-singularity is a fundamental concept for this analysis, and in this paper we present its analytical properties. A space discretization scheme is proposed, which is driven by the self-motion topology and embeds the kinematic map in its representation. A 3-DOF planar manipulator illustrates the methodology

Published in:

Robotics and Automation, 1995. Proceedings., 1995 IEEE International Conference on  (Volume:3 )

Date of Conference:

21-27 May 1995