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Efficient Kinematic Computations For 7-DOF ManipulatorsEfficient algorithms for forward kinematic mappings of seven-degree-of-freedom (7-DOF) robotic manipulator having revolute joints developed on basis of representation of redundant DOF in terms of parameter called "arm angle." Continuing effort to exploit redundancy in manipulator according to concept of basic and additional tasks. Concept also discussed in "Configuration-Control Scheme Copes With Singularities" (NPO-18556) and "Increasing the Dexterity of Redundant Robots" (NPO-17801).
Document ID
19940000341
Acquisition Source
Legacy CDMS
Document Type
Other - NASA Tech Brief
Authors
Seraji, Homayoun
(Caltech)
Long, Mark K.
(Caltech)
Kreutz-Delgado, Kenneth
(California Univ.)
Date Acquired
August 16, 2013
Publication Date
June 1, 1994
Publication Information
Publication: NASA Tech Briefs
Volume: 18
Issue: 6
ISSN: 0145-319X
Subject Category
Mechanics
Report/Patent Number
NPO-18558
Accession Number
94B10341
Distribution Limits
Public
Copyright
Work of the US Gov. Public Use Permitted.

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