Crossable Surfaces of Robotic Manipulators With Joint Limits
نویسندگان
چکیده
منابع مشابه
Crossable Surfaces of Robotic Manipulators with Joint Limits
Department of Mechanical Engineering The University of Iowa Iowa City, IA 52242 Tel. (319) 335-5676 Fax. (319) 335-5669 [email protected] Abstract A broadly applicable formulation for determining the crossability of singular surfaces and curves in the workspace of serial robotic manipulators is presented. Singular surfaces and curves are analytically determined using nullspace rank-d...
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ژورنال
عنوان ژورنال: Journal of Mechanical Design
سال: 2000
ISSN: 1050-0472,1528-9001
DOI: 10.1115/1.533545