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

Abstract

There has been signiicant interest in the periodic behavior, generally referred to as repeatability, exhibited by a kinematically redundant manipulator while performing a cyclic end eeector motion. Much of the early work in this area has been restricted to planar manipulators whose connguration is described in terms of absolute joint angles in order to… (More)
DOI: 10.1177/027836499401300105

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Cite this paper

@article{Roberts1994SingularitiesSS, title={Singularities, Stable Surfaces, and the Repeatable Behavior of Kinematically Redundant Manipulators}, author={Rodney G. Roberts and Anthony A. Maciejewski}, journal={I. J. Robotics Res.}, year={1994}, volume={13}, pages={70-81} }