Affiliation:
1. Department of Mechanical Engineering University of Illinois at Chicago Chicago, Illinois 60680
Abstract
We show that in order to obtain a canonical (simplest) form of the solution to the inverse velocity problem of a six-axis manipulator with a spherical wrist, the simultaneous use of two distinct coordinate systems is required. One coordinate system will yield a canonical solution for the joint rates of the arm subassembly, and the other coordinate system will yield a canonical solution for the joint rates of the wrist subassembly.
Subject
Applied Mathematics,Artificial Intelligence,Electrical and Electronic Engineering,Mechanical Engineering,Modelling and Simulation,Software
Cited by
4 articles.
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