IEEE - Institute of Electrical and Electronics Engineers, Inc. - A new general formalism for the kinematic analysis of all nonredundant manipulators

Author(s): Wenger, P.
Publisher: IEEE - Institute of Electrical and Electronics Engineers, Inc.
Publication Date: 1 January 1992
Conference Location: Nice, France, France
Conference Date: 12 May 1992
ISBN (Paper): 0-8186-2720-4
DOI: 10.1109/ROBOT.1992.220300
Regular:

The author presents a novel general formalism for analyzing the kinematics of robot manipulators with arbitrary nonredundant geometry. It is shown that the classical description of singularities... View More

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