Study and resolution of singularities for a 6-DOF PUMA manipulator

IEEE Transactions on Systems, Man, and Cybernetics, Part B: Cybernetics

Volumn 27, Issue 2, 1997, Pages 332-343

  Cheng, Fan Tien ^a   Hour, Tzung Liang ^a   Sun, York Yin ^a   Chen, Tsing Hua ^a  

^a NATIONAL CHENG KUNG UNIVERSITY   (Taiwan)

Author keywords

[No Author keywords available]

Indexed keywords

COMPUTER SIMULATION; DEGREES OF FREEDOM (MECHANICS); ERROR CORRECTION; INVERSE KINEMATICS; INVERSE PROBLEMS; MATHEMATICAL PROGRAMMING; REDUNDANCY;

INVERSE KINEMATICS PROBLEM; SINGULARITY ISOLATION PLUS COMPACT QUADRATIC PROGRAMMING; TRACKING ERRORS;

MANIPULATORS;

EID: 0031119291     PISSN: 10834419     EISSN: None     Source Type: Journal    
DOI: 10.1109/3477.558842     Document Type: Article

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