Formulation of the workspace equation for wrist-partitioned spatial manipulators

DOI10.1016/j.mechmachtheory.2005.10.006zbMath1096.70002OpenAlexW2087680148MaRDI QIDQ2495863

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

projective spacekinematic mappingDenavit-Hartenberg parameters

Mathematics Subject Classification ID

Kinematics of mechanisms and robots (70B15)

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