Title :
A study of a kinematically redundant manipulator structure
Author :
Waldron, Kenneth J. ; Reidy, John
Author_Institution :
The Ohio State University
Abstract :
Six degrees of freedom is only the minimum requirement for a manipulator to have full spatial positioning capability. However, effective use of more than six degrees of freedom is not a simple problem. Those systems with redundant degrees of freedom which have been successfully operated are based on end-point sensing. The present paper deals with ways of making effective use of additional degrees of freedom in conventional, open-loop, industrial robot type operation.
Keywords :
Arm; Bandwidth; Geometry; Laboratories; Manipulators; Mechanical engineering; Refining; Robot sensing systems; Service robots; Shoulder;
Conference_Titel :
Robotics and Automation. Proceedings. 1986 IEEE International Conference on
DOI :
10.1109/ROBOT.1986.1087707