The International Journal of Robotics Research · 1983 · 223 citations · 2 references
EngineeringMechanical EngineeringRobotics EngineeringRobot ControlRobot KinematicsRoboticsDexterous ManipulationDifferential KinematicsKinematicsManipulator ControlRobot ManipulatorsVelocity KinematicsManipulator KinematicsRobot Manipulator DesignVelocityWrist Kinematics
Robots for use in assembly and other interactive tasks must be able to respond to both forces and velocity com mands within their workspace. By considering a general six-joint robot we show that all such robots are limited in their ability to respond in orientation to feedback commands. We also show that it is simple to predict, if not to avoid, these regions of degeneracy in which the manipulator loses a degree of freedom.
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