A set of geometric invariants for kinematic analysis of 6R manipulators

International Journal of Robotics Research

Volumn 19, Issue 8, 2001, Pages 784-792

  Fu, H ^a   Yang, L ^a   Zhang, J ^a  

^a CHENGDU INSTITUTE OF COMPUTER APPLICATIONS   (China)

Author keywords

6R manipulator; Basic closure equations; Geometric invariants; Inverse kinematics

Indexed keywords

GEOMETRY; INVARIANCE; INVERSE KINEMATICS; INVERSE PROBLEMS;

GEOMETRIC INVARIANTS;

MANIPULATORS;

EID: 0034239827     PISSN: 02783649     EISSN: None     Source Type: Journal    
DOI: 10.1177/02783640022067175     Document Type: Article

References (8)

1. A geometric approach to inverse kinematics
2. Displacement analysis of the general spatial 7-link 7r mechanism
3. Structural parameters which reduce the number of manipulator configurations
4. Kimematic analysis of the 6R manipulator of general geometry
5. Solving the 6R inverse position problem using a generic-case solution methodology