Method for workspace calculation of 6R serial manipulator based on surface enveloping and overlaying

DOI10.1007/S12204-010-1048-5zbMath1333.70008OpenAlexW2014000908MaRDI QIDQ615342

Yuanming Ding, Xuan-Yin Wang

Publication date: 5 January 2011

Published in: Journal of Shanghai Jiaotong University (Science) (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1007/s12204-010-1048-5

zbMATH Keywords

manipulatorworkspacehomogeneous transformation matrix (HTM)rotation transformation matrix (RTM)

Mathematics Subject Classification ID

Kinematics of mechanisms and robots (70B15)

Cites Work

• An exhaustive study of the workspace topologies of all 3R orthogonal manipulators with geometric simplifications
• Remarks on some dynamical problems of controlling redundant manipulators

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