OPTIMUM KINEMATIC DESIGN FOR A SEVEN DEGREE OF FREEDOM MANIPULATOR.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

  • 97 Citations

Abstract

While today's general purpose manipulators contain six degrees of freedom, effective reduction in degrees of freedom occurs from singularity regions and from workspace obstacles. It is argued that the future general purpose manipulators will contain seven degrees of freedom, and that one particular kinematic design is superior to other possible 7 degree of freedom kinematic designs. Considerations of elimination of singularities, mechanical realizability, kinematic simplicity, and workspace shape are taken into account in arriving at this design.

LanguageEnglish
Title of host publicationUnknown Host Publication Title
EditorsHideo Hanafusa, Hirochika Inoue
Place of PublicationCambridge, MA, USA
PublisherMIT Press
Pages215-222
Number of pages8
ISBN (Print)0262081512
StatePublished - 1985
Externally publishedYes

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Degrees of freedom (mechanics)
Manipulators
Kinematics

ASJC Scopus subject areas

  • Engineering(all)

Cite this

Hollerbach, J. M. (1985). OPTIMUM KINEMATIC DESIGN FOR A SEVEN DEGREE OF FREEDOM MANIPULATOR. In H. Hanafusa, & H. Inoue (Eds.), Unknown Host Publication Title (pp. 215-222). Cambridge, MA, USA: MIT Press.

OPTIMUM KINEMATIC DESIGN FOR A SEVEN DEGREE OF FREEDOM MANIPULATOR. / Hollerbach, John M.

Unknown Host Publication Title. ed. / Hideo Hanafusa; Hirochika Inoue. Cambridge, MA, USA : MIT Press, 1985. p. 215-222.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Hollerbach, JM 1985, OPTIMUM KINEMATIC DESIGN FOR A SEVEN DEGREE OF FREEDOM MANIPULATOR. in H Hanafusa & H Inoue (eds), Unknown Host Publication Title. MIT Press, Cambridge, MA, USA, pp. 215-222.
Hollerbach JM. OPTIMUM KINEMATIC DESIGN FOR A SEVEN DEGREE OF FREEDOM MANIPULATOR. In Hanafusa H, Inoue H, editors, Unknown Host Publication Title. Cambridge, MA, USA: MIT Press. 1985. p. 215-222
Hollerbach, John M. / OPTIMUM KINEMATIC DESIGN FOR A SEVEN DEGREE OF FREEDOM MANIPULATOR. Unknown Host Publication Title. editor / Hideo Hanafusa ; Hirochika Inoue. Cambridge, MA, USA : MIT Press, 1985. pp. 215-222
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