DocumentCode
2186672
Title
Changing posture for cuspidal robot manipulators
Author
Wenger, Ph ; El Omri, J.
Author_Institution
Lab. d´´Autom., Nantes Univ., France
Volume
4
fYear
1996
fDate
22-28 Apr 1996
Firstpage
3173
Abstract
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
Keywords
manipulator kinematics; position control; 3-DOF positioning manipulators; 6-DOF manipulators; cuspidal robot manipulators; posture; robot design; serial nonredundant manipulator; trajectory planning; Computational geometry; Kinematics; Manipulators; Orbital robotics; Postal services; Robot control; Service robots; Trajectory; Wrist;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 1996. Proceedings., 1996 IEEE International Conference on
Conference_Location
Minneapolis, MN
ISSN
1050-4729
Print_ISBN
0-7803-2988-0
Type
conf
DOI
10.1109/ROBOT.1996.509195
Filename
509195
Link To Document