## Geometric design of 3R manipulators for three precision poses using dual quaternions

- Omid Heidari, Hamid M. Daniali, S. Mojtaba Varedi
- 2014 Second RSI/ISM International Conference on…
- 2014

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@inproceedings{Lee2002SolvingTG, title={Solving the Geometric Design Problem of Spatial 3R Robot Manipulators Using Polynomial Homotopy Continuation}, author={Eric Lee and Constantinos Mavroidis}, year={2002} }

- Published 2002

In this paper, the geometric design problem of serial-link robot manipulators with th revolute (R) joints is solved using a polynomial homotopy continuation method. T spatial positions and orientations are defined and the dimensions of the geometric p eters of the 3-R manipulator are computed so that the manipulator will be able to p its end-effector at these three pre-specified locations. Denavit and Hartenberg param and 434 homogeneous matrices are used to formulate the problem and obtain eig… CONTINUE READING