Formulation of the workspace equation for wrist-partitioned spatial manipulators

DOI10.1016/J.MECHMACHTHEORY.2005.10.006MaRDI QIDQ2495863zbMATH OpenOpenAlexFDO

Authors Andrzej J. Cebula, P. J. Zsombor-Murray

Publication date 30 June 2006

Published in Mechanism and Machine Theory (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1016/j.mechmachtheory.2005.10.006

zbMATH Keywords

Denavit-Hartenberg parameterskinematic mappingprojective space

Mathematics Subject Classification ID

Kinematics of mechanisms and robots (70B15)

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