Manipulators Singularities , Stable Surfaces , and the Repeatable Behavior of Kinematically Redundant

Abstract

There has been significant interest in the periodic behavior, generally referred to as repeatability, exhibited by a kinematically redundant manipulator while performing a cyclic end-effector motion. Much of the early work in this area has been restricted to planar manipulators whose configuration is described in terms of absolute joint angles to simplify… (More)

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Cite this paper

@inproceedings{Roberts1994ManipulatorsS, title={Manipulators Singularities , Stable Surfaces , and the Repeatable Behavior of Kinematically Redundant}, author={Rodney G. Roberts and Anthony A. Maciejewski and Graham Roberts}, year={1994} }