Cebula, Andrzej J.; Zsombor-Murray, Paul J. Formulation of the workspace equation for wrist-partitioned spatial manipulators. (English) Zbl 1096.70002 Mech. Mach. Theory 41, No. 7, 778-789 (2006). Summary: We present a derivation of the end-effector (EE) workspace equation for a general wrist-partitioned serial manipulator. The equation-coupling manipulator’s Denavit-Hartenberg parameters, joint variables and coordinates of the EE poses are derived in a seven-dimensional projective space, and then, in the EE Cartesian space. The procedure used turns out to be general for any wrist-partitioned serial manipulator, whether redundant or not. Cited in 2 Documents MSC: 70B15 Kinematics of mechanisms and robots Keywords:kinematic mapping; Denavit-Hartenberg parameters; projective space PDF BibTeX XML Cite \textit{A. J. Cebula} and \textit{P. J. Zsombor-Murray}, Mech. Mach. Theory 41, No. 7, 778--789 (2006; Zbl 1096.70002) Full Text: DOI OpenURL