THE KINEMATIC CONTROL EQUATIONS OF A SINGULARITY-FREE 6-DEGREE-OF-FREEDOM MANIPULATOR

Authors
DICAPRIO F STANISIC MM
Citation
F. Dicaprio et Mm. Stanisic, THE KINEMATIC CONTROL EQUATIONS OF A SINGULARITY-FREE 6-DEGREE-OF-FREEDOM MANIPULATOR, Journal of mechnical design, 116(1), 1994, pp. 17-21
Citations number
NO
Categorie Soggetti
Engineering, Mechanical
Journal title
Journal of mechnical design → ACNP
ISSN journal
10500472
Volume
116
Issue
1
Year of publication
1994
Pages
17 - 21
Database
ISI
SICI code
1050-0472(1994)116:1<17:TKCEOA>2.0.ZU;2-6
Abstract
In this paper, one symmetrically actuated double pointing system is us ed in the shoulder subassembly, and another is used in the wrist subas sembly of a six-degree-of-freedom manipulator. In a previous paper, th is manipulator was shown to be free of singularities. In this paper, t he position control equations are derived.