Singularities in mechanisms II - Trajectory tracking in the 3-axis wrist

Mechanism and Machine Theory

Volumn 34, Issue 4, 1999, Pages 513-526

  Shankar, Shiva ^a  

^a INDIAN INSTITUTE OF TECHNOLOGY BOMBAY   (India)

Author keywords

[No Author keywords available]

Indexed keywords

END EFFECTORS; MOTION PLANNING; TRACKING (POSITION);

TRAJECTORY TRACKING;

MECHANISMS;

EID: 0033133404     PISSN: 0094114X     EISSN: None     Source Type: Journal    
DOI: 10.1016/S0094-114X(98)00036-6     Document Type: Article

References (5)

1. D. Gottlieb, Robots and topology, in: Proceedings of the IEEE Conference on Robotics and Automation, Utilitas Mathematica, Winnipeg, 1986, pp. 1689-1691.
2. Shankar S., Saraf A. Singularities in mechanisms 1. Mechanisms and Machine Theory. 30:1995;1139-1148.
3. H. Weyl, Symmetry, Princeton University Press, NJ, 1952.
4. M. Spivak, A Comprehensive Introduction to Differential Geometry, Publish or Perish, Boston, MA, 1979.
5. V.I. Arnold, Mathematical Methods of Classical Mechanics, Springer, New York, 1980.