Affiliation:
1. Purdue University School of Electrical Engineering West Lafayette, IN 47907
Abstract
Robots for use in assembly and other interactive tasks must be able to respond to both forces and velocity com mands within their workspace. By considering a general six-joint robot we show that all such robots are limited in their ability to respond in orientation to feedback commands. We also show that it is simple to predict, if not to avoid, these regions of degeneracy in which the manipulator loses a degree of freedom.
Subject
Applied Mathematics,Artificial Intelligence,Electrical and Electronic Engineering,Mechanical Engineering,Modeling and Simulation,Software
Cited by
134 articles.
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