A Geometrical Characterization of Workspace Singularities in 3R Manipulators

Author:

Husty M.,Ottaviano E.,Ceccarelli M.

Publisher

Springer Netherlands

Reference12 articles.

1. Burdick, J.W., A classification of 3R regional manipulator singularities and geometries, Mechanism and Machine Theory 30(1), 71-89, (1995).

2. Ceccarelli, M., On the workspace of 3R robot arms, in Proc. 5th IFToMM Int. Symp. on Theory and Practice of Mechanism, Bucharest, Vol. II-1, pp. 37-46 (1989).

3. Ottaviano, E., Ceccarelli, M., Lanni, C., A characterization of ring void in workspace of three-revolute manipulators, in Proc. 10th World Congress on the Theory of Machines and Mechanisms, Oulu, Finland, Vol. 3, pp. 1039-1044 (1999).

4. Ottaviano E., Husty M., Ceccarelli M. (2004), A Cartesian representation for the boundary workspace of 3R manipulators, in On Advances in Robot Kinematics, J. Lenar či č and C. Galletti (Eds.), Kluwer, Dordrecht, pp. 247-254 (2004).

5. Ottaviano, E., Husty, M., Ceccarelli, M., Identification of the workspace boundary of a general 3-R manipulator, ASME Journal of Mechanical Design 128(1), 236-242 (2006).

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