Singular configurations of wrist-partitioned 6R serial robots: A geometric perspective for users

Transactions of the Canadian Society for Mechanical Engineering

Volumn 26, Issue 1, 2002, Pages 41-55

  Hayes, M J D ^a   Husty, M L ^a   Zsombor Murray, P J ^a  

^a CARLETON UNIVERSITY   (Canada)

Author keywords

[No Author keywords available]

Indexed keywords

COMPUTATIONAL GEOMETRY; DEGREES OF FREEDOM (MECHANICS); END EFFECTORS; MANIPULATORS; MATHEMATICAL MODELS; MATRIX ALGEBRA; UNIVERSAL JOINTS; VECTORS;

CYLINDROID; JACOBIAN MATRIX; SINGULAR CONFIGURATION; WRIST PARTITIONED;

INDUSTRIAL ROBOTS;

EID: 0036299828     PISSN: 03158977     EISSN: None     Source Type: Journal    
DOI: 10.1139/tcsme-2002-0003     Document Type: Article

References (25)

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