Geometry Based Analysis of 3R Serial Robots

Author:

Salunkhe Durgesh,Capco Jose,Chablat Damien,Wenger Philippe

Publisher

Springer International Publishing

Reference6 articles.

1. Wenger, P.: A new general formalism for the kinematic analysis of all non-redundant manipulators. In: Proceedings of the 1992 IEEE International Conference on Robotics and Automation, Nice, France, pp. 442–447 (1992)

2. Wenger, P.: Uniqueness domains and regions of feasible paths for cuspidal manipulators. IEEE Trans. Rob. 20(4), 745–750 (2004)

3. Wenger, P., Chablat, D., Baili, M.: A DH-parameter based condition for 3R orthogonal manipulators to have 4 distinct inverse kinematic solutions. J. Mech. Des. 127, 150–155 (2005)

4. Salunkhe, D.H., Spartalis, C., Capco, J., Chablat, D., Wenger, P.: Necessary and sufficient condition for a generic 3R serial manipulator to be cuspidal. Mech. Mach. Theory 171, 104729 (2022)

5. Pieper, D.L.: The kinematics of manipulators under computer control. Ph.D. thesis, Stanford University, USA, October 1968

Cited by 2 articles. 订阅此论文施引文献 订阅此论文施引文献,注册后可以免费订阅5篇论文的施引文献,订阅后可以查看论文全部施引文献

1. Cusp points and assembly changing motions in the PRR-PR-PRR planar parallel manipulator;Frontiers of Mechanical Engineering;2023-06

2. On Ellipse Intersections by Means of Distance Geometry;Advances in Mechanism and Machine Science;2023

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