IEEE - Institute of Electrical and Electronics Engineers, Inc. - Regional structure kinematic modules for singularity avoidance

Proceedings of 1993 IEEE International Conference on Robotics and Automation

Author(s): Long, G.L. ; Reed, S.W. ; Donoghue, J.P.
Publisher: IEEE - Institute of Electrical and Electronics Engineers, Inc.
Publication Date: 1 January 1993
Conference Location: Atlanta, GA, USA
Conference Date: 2 May 1993
ISBN (Paper): 0-8186-3450-2
DOI: 10.1109/ROBOT.1993.292104
Regular:

Many industrial manipulators have three-revolute-joint (3R) regional structures for positioning a wrist center. Motion control of these 3R regional structures can be problematical, as... View More

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