Classification of serial robot-manipulators with nonremovable singularities

Journal of Mechanical Design, Transactions of the ASME

Volumn 118, Issue 2, 1996, Pages 202-208

  Karger, A ^a  

^a MATHEMATICAL INSTITUTE   (Czech Republic)

Author keywords

[No Author keywords available]

Indexed keywords

DEGREES OF FREEDOM (MECHANICS); END EFFECTORS; GEOMETRY; MATHEMATICAL MODELS; MATRIX ALGEBRA; MOTION PLANNING; VECTORS;

EUCLIDEAN SPACE; NONREMOVABLE SINGULARITY; ROTATIONAL JOINTS;

MANIPULATORS;

EID: 0030165055     PISSN: 10500472     EISSN: None     Source Type: Journal    
DOI: 10.1115/1.2826870     Document Type: Article

References (3)

1. Karger, A., 1995, “Classification of Robot-Manipulators With Only Singular Configurations,” Mech. Mack Theory, Vol. 30, pp. 727-736.
2. Karger, A., 1989, “Geometry of the Motion of Robot-Manipulators,” Manuser. Math, Vol. 65, pp. 311-328.
3. Hunt, K. H., 1978, Kinematic Geometry of Mechanisms, Oxford Univ. Press, Oxford.