Formulation of the workspace equation for wrist-partitioned spatial manipulators. (English) Zbl 1096.70002

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.


70B15 Kinematics of mechanisms and robots
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