TRAJECTORY PLANNING IN TASK SPACE FOR GENERAL MANIPULATORS

Authors
TSAI KY KOHLI D
Citation
Ky. Tsai et D. Kohli, TRAJECTORY PLANNING IN TASK SPACE FOR GENERAL MANIPULATORS, Journal of mechnical design, 115(4), 1993, pp. 915-921
Citations number
NO
Categorie Soggetti
Engineering, Mechanical
Journal title
Journal of mechnical design → ACNP
ISSN journal
10500472
Volume
115
Issue
4
Year of publication
1993
Pages
915 - 921
Database
ISI
SICI code
1050-0472(1993)115:4<915:TPITSF>2.0.ZU;2-3
Abstract
This paper contains two new works, namely (i) general task space struc ture of any n d.o.f. manipulator, and (ii) general procedure of determ ining admissibility of paths in task space for general manipulators. S everal examples are presented to illustrate the general theory.