Workspace atlases for the design of spherical 3-DOF serial wrists

DOI10.1023/A:1023633719043MaRDI QIDQ1404366zbMATHOpenAlexWikidataFDO

Authors D. Massart

Publication date 21 August 2003

Published in Journal of Intelligent \& Robotic Systems (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1023/a:1023633719043

zbMATH Keywords

atlasworkspacespherical mechanismswrists

Mathematics Subject Classification ID

Artificial intelligence for robotics (68T40)

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(2)

• Solution space atlases, workspace characteristics charts and joint space maps for the design of planar serial manipulators
• Geometric characterization of the workspace of non-orthogonal rotation axes

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