The dexterity and singularities of an underactuated robot

DOI10.1002/ROB.1013zbMath0985.70005OpenAlexW2147532297MaRDI QIDQ2722677

R. G. Roberts

Publication date: 29 May 2002

Published in: Journal of Robotic Systems (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1002/rob.1013

zbMATH Keywords

joint-limit singularitymanipulator dexteritypassive-joint singularityplanar 3R manipulatorspace diagramsunderactuated robot

Mathematics Subject Classification ID

Kinematics of mechanisms and robots (70B15) Robot dynamics and control of rigid bodies (70E60)

Cites Work

• A dynamic coupling index for underactuated manipulators

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