Manipulability analysis for Gimbal driven robotic arms


Gimbal transmissions are non-linear direct transmissions and can be used in robotic arms replacing the traditional revolute joints. To investigate manipulability of robotic manipulators, the classical criterion of Manipulability Ellipsoid has been formulated. Thus by keeping a constant norm for robot joint torques vector, the effects of replacing some… (More)
DOI: 10.1109/ROBIO.2009.5420736


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