Singularities of a manipulator with offset wrist

Journal of Mechanical Design, Transactions of the ASME

Volumn 121, Issue 2, 1999, Pages 315-319

  Williams, R L ^a  

^a US Institute of Navigation   (United States)

Author keywords

[No Author keywords available]

Indexed keywords

MATHEMATICAL MODELS; UNIVERSAL JOINTS;

ARTICULATED ARMS; DOUBLE-UNIVERSAL JOINT (DUJ) WRIST;

MANIPULATORS;

EID: 0032676033     PISSN: 10500472     EISSN: None     Source Type: Journal    
DOI: 10.1115/1.2829461     Document Type: Article

References (11)

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3. Kholi, D., and Hsu, M. S., 1987, “Boundary Surfaces and Accessibility Regions for Regional Structures of Manipulators,” Mechanism and Machine Theory, Vol. 22, No. 3, pp. 277.
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9. Trevelyan, J. P., Kovesi, P. D., Ong, M., and Elford, D., 1986, “ET: A Wrist Mechanism Without Singular Positions,” The International Journal of Robotics Research, Vol. 4, No. 4, pp. 71-85.
10. Waldron, K J., Wang, S. L., and Bolin, S. J., 1985, “A Study of the Jacobian Matrix of Serial Manipulators,” Journal of Mechanisms, Transmissions, and Automation in Design, Vol. 107, pp. 230-238.
11. Williams, R. L. II, 1990, “Forward and Inverse Kinematics of Double Universal Joint Robot Wrists,” Proceedings of the 1990 Space Operations, Applications, and Research (SOAR) Symposium, Albuquerque, NM.