Hypersurfaces of special configurations of serial manipulators and related concepts. part III: Measures for the position and orientation space of 6 dof manipulators
作者:
Resit Soylu,
Joseph Duffy,
期刊:
Journal of Robotic Systems
(WILEY Available online 1988)
卷期:
Volume 5,
issue 1
页码: 55-72
ISSN:0741-2223
年代: 1988
DOI:10.1002/rob.4620050105
出版商: Wiley Subscription Services, Inc., A Wiley Company
数据来源: WILEY
摘要:
AbstractIn this article two alternatives are introduced as measures for the position and orientation space of 6 DOF manipulators which include considerations of joint limitations and scale. The cumulative freedom of the end effector, considered as a rigid body in 3D space, can thus be quantified. These alternative measures are shown to be equivalent for manipulators with spherical wrists. Applications are presented and the new concepts are illustrated by an example.
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