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Kinematics and Singularity Analysis of a 7-DOF Redundant Manipulator
A new method of kinematic analysis and singularity analysis is proposed for a 7-DOF redundant manipulator with three consecutive parallel axes. First, the redundancy angle is described according to the self-motion characteristics of the manipulator, the position and orientation of the end-effector a...
| Autores principales: | , , , , |
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| Formato: | Online Artículo Texto |
| Lenguaje: | English |
| Publicado: |
MDPI
2021
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| Materias: | |
| Acceso en línea: | https://www.ncbi.nlm.nih.gov/pmc/articles/PMC8587006/ https://www.ncbi.nlm.nih.gov/pubmed/34770562 http://dx.doi.org/10.3390/s21217257 |