Changing posture for cuspidal robot manipulators

The primary goal of this paper is a descriptive explanation, based on typical illustrative examples, of what happens precisely when a serial non-redundant manipulator is changing its posture. This work focuses on the cuspidal robot manipulators, i.e. those robot manipulators which can change posture...

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Bibliographic Details
Published inProceedings of IEEE International Conference on Robotics and Automation Vol. 4; pp. 3173 - 3178 vol.4
Main Authors Wenger, P., El Omri, J.
Format Conference Proceeding
LanguageEnglish
Published IEEE 1996
Subjects
Computational geometry
Kinematics
Manipulators
Orbital robotics
Postal services
Robot control
Service robots
Trajectory
Wrist
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Summary:The primary goal of this paper is a descriptive explanation, based on typical illustrative examples, of what happens precisely when a serial non-redundant manipulator is changing its posture. This work focuses on the cuspidal robot manipulators, i.e. those robot manipulators which can change posture without meeting a singularity. The analysis is done for 3-DOF positioning manipulators. It applies to 6-DOF manipulators with wrists as well. Main applications of this study are robot design and trajectory planning.
ISBN:0780329880
9780780329881
ISSN:1050-4729
2577-087X
DOI:10.1109/ROBOT.1996.509195